CN112223244A - Master-slave manipulator - Google Patents
Master-slave manipulator Download PDFInfo
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- CN112223244A CN112223244A CN202011076362.0A CN202011076362A CN112223244A CN 112223244 A CN112223244 A CN 112223244A CN 202011076362 A CN202011076362 A CN 202011076362A CN 112223244 A CN112223244 A CN 112223244A
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
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Abstract
The invention discloses a master-slave manipulator which comprises a moving frame, a second supporting seat and a second motor, wherein the lower end of the moving frame is provided with a driving wheel, the first motor is connected with a first rotating shaft, the upper end of a first transmission shaft penetrates through the first supporting seat to be connected with the first supporting seat, the third motor is connected with a third rotating shaft, the second supporting seat is fixedly arranged on the upper end surface of the first supporting seat, the lower end of the second supporting seat is connected with a third transmission shaft, the fourth motor is connected with a lead screw, the lead screw is connected with the sliding frame in a penetrating manner, the second motor is arranged in the third supporting seat, and the lower end of the second rotating shaft is connected with a second transmission shaft. This master-slave mode manipulator removes to be provided with in the frame and collects the harmful substance that the chamber can be used to store the manipulator and collect, is provided with external pipe and nozzle simultaneously, handles the back with the harmful substance of collecting, can be connected external pipe and external degassing unit, sprays the antiseptic solution through the nozzle and to the clearance of disinfecting in the collection chamber.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a master-slave manipulator.
Background
The manipulator can be applied to the fields of automatic production, scientific research and exploration, especially when some operations are poisonous and harmful hazardous substances, the manipulator can be used for avoiding harm to personnel by harmful and toxic substances, the operations are generally finished under the guidance of people by operating staff or utilizing automation equipment, but the general manipulator does not have a storage function, only the clamped harmful substances can be put into a corresponding collecting region, the back-and-forth operation is too troublesome, the flexibility of a clamping mechanism of most manipulators is low, the rotation adjustment cannot be correspondingly carried out, and the problems can be solved by a master-slave manipulator.
Disclosure of Invention
The invention aims to provide a master-slave manipulator, which solves the problems that the general manipulator proposed in the background art does not have a storage function, only can clamp harmful substances into corresponding collecting regions, the back-and-forth operation is too troublesome, and the clamping mechanism of most manipulators has low flexibility and cannot correspondingly rotate and adjust.
In order to achieve the purpose, the invention provides the following technical scheme: a master-slave manipulator comprises a moving frame, a second supporting seat and a second motor,
the lower end of the moving frame is provided with a driving wheel, a first motor is arranged in the moving frame, the first motor is connected with a first rotating shaft, the first rotating shaft is connected with a first transmission shaft through a first bevel gear set, the upper end of the first transmission shaft penetrates through a first supporting seat to be connected with a first support, the first supporting seat is fixedly installed on the upper end face of the moving frame, the first support comprises a third motor, a third rotating shaft, a second bevel gear set and a third transmission shaft, the third motor is arranged in the first support and connected with the third rotating shaft, and the third rotating shaft is connected with the third transmission shaft through the second bevel gear set;
the second support seat is fixedly arranged on the upper end face of the first support, a second support is arranged above the second support seat, the lower end of the second support is connected with a third transmission shaft, the left side of the second support is connected with a third support, the third support comprises a fourth motor, a lead screw, a sliding frame and a guide rod, the upper end of the third support is provided with the fourth motor, the fourth motor is connected with the lead screw, the lead screw is rotatably connected to the inner side wall of the third support, the lead screw is in through connection with the sliding frame, and the sliding frame is provided with the guide rod;
the second motor is arranged in the third support and is connected with the second rotating shaft, the lower end of the second rotating shaft is connected with the second transmission shaft, and the lower end of the second transmission shaft penetrates through the inner bottom of the third support and is connected with the clamping mechanism.
Preferably, the movable rack comprises a power box, a collection cavity, an external connection pipe and a nozzle, the power box and the collection cavity are arranged in the movable rack, the power box is arranged on the right side of the collection cavity, the right side of the movable rack is provided with the external connection pipe in a penetrating mode, the nozzle is arranged on the external connection pipe in a penetrating mode, and the nozzle is arranged on the top end of the collection cavity in a penetrating mode.
Preferably, the driving wheels are arranged in two groups, and the driving wheels are symmetrically arranged about the axis of the moving frame.
Preferably, a rotating mechanism is formed among the first motor, the first rotating shaft, the first bevel gear set, the first transmission shaft and the first support, and the first support seat are in sliding connection.
Preferably, the third motor, the third rotating shaft, the second bevel gear set, the third transmission shaft and the second support form a rotating mechanism, and the lower end of the second support is in sliding connection with the second support seat.
Preferably, the second support comprises a fifth motor and a fourth transmission shaft, the fifth motor is arranged on the right side of the second support, the fifth motor is connected with the fourth transmission shaft, the fourth transmission shaft is rotatably connected to the inner side wall of the second support, the left end of the fourth transmission shaft penetrates through the inner left side wall of the second support and is connected with the third support, and the third support is in sliding connection with the second support.
Preferably, the fourth motor and the lead screw form a rotating mechanism, and the lead screw is in threaded connection with the sliding frame.
Preferably, the second motor, the second rotating shaft, the second transmission shaft and the clamping mechanism form a rotating mechanism.
Preferably, the clamping mechanism comprises a sixth motor, a worm wheel, a first connecting rod, a second connecting rod, a clamping plate, a third connecting rod and a fixing frame, and the right side of the fixed frame is provided with a sixth motor which penetrates through the right side surface of the fixed frame and is connected with the worm, the worm is rotationally connected to the right side wall in the fixed frame, the worm is connected with the worm wheel, the worm wheel is rotationally connected to the fixed frame, meanwhile, worm wheels are respectively arranged at the front side and the rear side of the worm, a first connecting rod is rotationally connected to the worm wheels, and one end of the first connecting rod, which is far away from the worm wheel, is rotatably connected with a second connecting rod, the inner side surface of one end of the second connecting rod, which is far away from the first connecting rod, is connected with the clamping plate, and the second connecting rod is rotatably connected with a third connecting rod, one end of the third connecting rod, which is far away from the two connecting rods, is rotatably connected to the fixed frame, and the third connecting rod is arranged on the left side of the worm wheel.
Compared with the prior art, the invention has the beneficial effects that: the master-slave type manipulator is provided with a master-slave type manipulator,
(1) the clamping mechanism is provided with a driving wheel, the position of the manipulator can be conveniently and continuously moved and adjusted under the action of the driving wheel, the regional operation is convenient, and the first support and the second support can be adjusted under the action of the arranged first motor, the first rotating shaft, the first bevel gear set, the first transmission shaft, the third motor, the third rotating shaft, the second bevel gear set and the third transmission shaft, so that the extending position of the clamping mechanism can be controlled;
(2) the movable frame is internally provided with a collecting cavity which can be used for storing harmful substances collected by the manipulator, and is also provided with an external connecting pipe and a nozzle, after the operation is finished, the collected harmful substances are treated, the external connecting pipe can be connected with an external sterilizing device, and disinfectant is sprayed through the nozzle to sterilize and clean the collecting cavity;
(3) the clamping mechanism is provided with a fifth motor and a fourth transmission shaft, the third support is driven to rotate through the fourth transmission shaft under the action of the fifth motor, the angle of the clamping mechanism can be properly adjusted, and the corresponding lifting adjustment is carried out on the clamping mechanism through the fourth motor and a lead screw;
(4) the clamping mechanism is provided with a second motor, a second rotating shaft and a second transmission shaft, the clamping mechanism is driven to rotate through the second rotating shaft and the second transmission shaft under the action of the second motor, the direction of the clamping mechanism is rotationally adjusted, the flexibility of the clamping mechanism is improved, and the clamping mechanism completes clamping actions under the action of a sixth motor, a turbine, a worm and the like.
Drawings
FIG. 1 is a schematic view of the internal structure of a first bracket according to the present invention;
FIG. 2 is a schematic front sectional view of the first and second supporting seats of the present invention;
FIG. 3 is a schematic view of a second bracket according to the present invention;
FIG. 4 is a schematic view of a clamping mechanism according to the present invention;
FIG. 5 is a schematic view of the internal structure of a third stent of the present invention;
fig. 6 is a schematic structural view of the moving frame according to the present invention.
In the figure: 1. a movable frame 101, a power box 102, a collection cavity 103, an external connection pipe 104, a nozzle 2, a driving wheel 3, a first motor 4, a first rotating shaft 5, a first bevel gear set 6, a first transmission shaft 7, a first supporting seat 8, a first bracket 801, a third motor 802, a third rotating shaft 803, a second bevel gear set 804, a third transmission shaft 9, a second supporting seat 10, a second bracket 1001, a fifth motor 1002, a fourth transmission shaft 11, a third bracket 1101, a fourth motor 1102, a lead screw 1103, a carriage 1104, a guide bar 12, a second motor 13, a second rotation shaft 14, a second transmission shaft 15, a clamping mechanism 1501, a sixth motor 1502, a worm, 1503, a worm wheel 1504, a first connecting rod 1505, a second connecting rod 1506, a clamping plate 1507, a third connecting rod 1508 and a fixing frame.
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. 1-6, the present invention provides a technical solution: a master-slave manipulator is disclosed, as shown in figure 1, figure 2 and figure 6, the lower end of a moving frame 1 is provided with a driving wheel 2, a first motor 3 is arranged in the moving frame 1, the moving frame 1 comprises a power box 101, a collecting cavity 102, an external pipe 103 and a nozzle 104, the power box 101 and the collecting cavity 102 are arranged in the moving frame 1, the power box 101 is arranged at the right side of the collecting cavity 102, the external pipe 103 is arranged at the right side of the moving frame 1 in a penetrating way, the nozzle 104 is arranged on the external pipe 103, the nozzle 104 is arranged at the top end in the collecting cavity 102 in a penetrating way, the collecting cavity 102 can be used for collecting harmful substances, after treatment, the external pipe 103 is connected with an external disinfection device, disinfectant is sprayed in the collecting cavity 102 through the nozzle 104 for disinfection and cleaning, two groups of driving wheels 2 are arranged, the driving wheels 2 are symmetrically arranged about the axis of the moving frame 1, the manipulator can be conveniently moved and cleaned, a rotating mechanism is formed by a first motor 3, a first rotating shaft 4, a first bevel gear set 5, a first transmission shaft 6 and a first support 8, the first support 8 and a first support seat 7 are in sliding connection, the first motor 3 rotates and adjusts the first support 8 through the rotation of the first rotating shaft 4, the first bevel gear set 5 and the first transmission shaft 6, the first motor 3 is connected with the first rotating shaft 4, the first rotating shaft 4 is connected with the first transmission shaft 6 through the first bevel gear set 5, the upper end of the first transmission shaft 6 penetrates through the first support seat 7 to be connected with the first support 8, the first support seat 7 is fixedly arranged on the upper end face of the movable frame 1, the third motor 801, the third rotating shaft 802, the second bevel gear set 803, the third transmission shaft 804 and the second support 10 form a rotating mechanism, and the lower end of the second support 10 is in sliding connection with the second support seat 9, the third motor 801 drives the second support 10 to rotate through a third rotating shaft 802, a second bevel gear set 803 and a third transmission shaft 804, so as to adjust the rotation of the second support, the first support 8 includes the third motor 801, the third rotating shaft 802, the second bevel gear set 803 and the third transmission shaft 804, the third motor 801 is arranged in the first support 8, the third motor 801 is connected with the third rotating shaft 802, and the third rotating shaft 802 is connected with the third transmission shaft 804 through the second bevel gear set 803.
As shown in fig. 1, 2, 3 and 5, the second supporting seat 9 is fixedly installed on the upper end surface of the first bracket 8, and a second bracket 10 is disposed above the second supporting seat 9, the second bracket 10 includes a fifth motor 1001 and a fourth transmission shaft 1002, and the right side of the second bracket 10 is disposed with the fifth motor 1001, the fifth motor 1001 is connected with the fourth transmission shaft 1002, and the fourth transmission shaft 1002 is rotatably connected to the inner side wall of the second bracket 10, the left end of the fourth transmission shaft 1002 penetrates through the inner left side wall of the second bracket 10 to be connected with the third bracket 11, and the third bracket 11 is slidably connected with the second bracket 10, the fifth motor 1001 drives the third bracket 11 to rotate through the fourth transmission shaft 1002, the angle of the clamping mechanism 15 is properly adjusted, the lower end of the second bracket 10 is connected with the third transmission shaft 804, and the left side of the second bracket 10 is connected with the third bracket 11, the fourth motor 1101 and the lead screw 1102 form a rotating mechanism, and the lead screw 1102 is in threaded connection with the carriage 1103, the fourth motor 1101 drives the lead screw 1102 to rotate, so that the carriage 1103 moves on the lead screw 1102, for height adjustment of the clamping mechanism 15, the third bracket 11 comprises a fourth motor 1101, a lead screw 1102, a carriage 1103 and a guide bar 1104, and the upper end of the third bracket 11 is provided with a fourth motor 1101, the fourth motor 1101 is connected with a lead screw 1102, and the lead screw 1102 is rotatably connected on the inner side wall of the third bracket 11, the lead screw 1102 is connected with a sliding frame 1103 in a penetrating way, and the carriage 1103 is provided with a guide bar 1104, the second motor 12 is provided in the third bracket 11, the second motor 12 is connected with the second rotating shaft 13, the second motor 12, the second rotating shaft 13, the second transmission shaft 14 and the clamping mechanism 15 form a rotating mechanism, and the second motor 12 drives the clamping mechanism 15 to rotate through the second rotating shaft 13 and the second transmission shaft 14 to adjust the rotating direction of the clamping mechanism 15.
As shown in fig. 1, 2, 3 and 4, the lower end of the second rotating shaft 13 is connected to the second driving shaft 14, the lower end of the second driving shaft 14 penetrates through the inner bottom of the third bracket 11 to be connected to the clamping mechanism 15, the clamping mechanism 15 includes a sixth motor 1501, a worm gear 1502, a worm wheel 1503, a first connecting rod 1504, a second connecting rod 1505, a clamping plate 1506, a third connecting rod 1507 and a fixing frame 1508, the right side of the fixing frame 1508 is provided with the sixth motor 1501, the sixth motor 1501 penetrates through the right side of the fixing frame 1508 to be connected to the worm gear, the worm gear 1502 is rotatably connected to the right side wall of the fixing frame 1508, the worm gear 1502 is rotatably connected to the worm wheel 1503, the worm wheels 1503 are respectively arranged at the front and rear sides of the worm gear 1502, the first connecting rod 1504 is rotatably connected to the worm wheel 1503, and the end of the first connecting rod 1504, which is far away, the inner side surface of one end of the second connecting rod 1505, which is far away from the first connecting rod 1504, is connected with the clamping plate 1506, the third connecting rod 1507 is rotatably connected to the second connecting rod 1505, one end of the third connecting rod 1507, which is far away from the second connecting rod 1505, is rotatably connected to the fixing frame 1508, the third connecting rod 1507 is arranged on the left side of the worm wheel 1503, and the clamping plate 1506 is driven by the first connecting rod 1504, the second connecting rod 1505 and the third connecting rod 1507 to complete clamping under the action of the sixth motor 1501, the worm wheel 1503 and the worm gear 1502.
The working principle is as follows: when the master-slave manipulator is used, the power box 101 is switched on, the manipulator is moved to a designated position under the action of the driving wheel 2 to clamp and collect harmful and toxic substances, the first motor 3 drives the first rotating shaft 4 to rotate, the first rotating shaft 4 drives the first transmission shaft 6 to rotate through the first bevel gear set 5, the first transmission shaft 6 drives the first bracket 8 to rotate and adjust, the third motor 801 drives the third rotating shaft 802 to rotate, the third rotating shaft 802 drives the third transmission shaft 804 to rotate through the second bevel gear set 803 to rotate and adjust the second bracket 10, the position of the clamping mechanism 15 is adjusted, the fourth transmission shaft 1002 is driven to rotate under the action of the fifth motor 1001 according to requirements, the fourth transmission shaft 1002 drives the third bracket 11 to rotate, the angle of the clamping mechanism 15 is correspondingly adjusted, the second motor 12 drives the second rotating shaft 13 to rotate, the second transmission shaft 13 drives the second transmission shaft 14 to rotate and adjust the orientation of the clamping mechanism 15 in a rotating way, the fourth motor 1101 drives the lead screw 1102 to rotate, so that the sliding frame 1103 is adjusted on the lead screw 1102, the height of the clamping mechanism 15 is adjusted, clamping is performed, the sixth motor 1501 drives the worm 1503 to rotate through the worm 1502, the first connecting rod 1504, the second connecting rod 1505 and the third connecting rod 1507 correspondingly rotate, the clamping plate 1506 is driven to complete clamping, clamped substances are placed in the collection cavity 102, after clamping is completed, harmful and toxic substances can be taken out to perform corresponding treatment, the external connection pipe 103 is connected with an external disinfection device, and disinfection and cleaning are performed on the interior of the collection cavity 102 by spraying disinfectant through the nozzle 104.
The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for simplicity of description only and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be considered limiting of the claimed invention.
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 various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a master-slave mode manipulator, includes removal frame (1), second supporting seat (9) and second motor (12), its characterized in that:
a moving frame (1), a driving wheel (2) is arranged at the lower end of the moving frame (1), a first motor (3) is arranged in the movable frame (1), the first motor (3) is connected with a first rotating shaft (4), and the first rotating shaft (4) is connected with the first transmission shaft (6) through a first bevel gear set (5), the upper end of the first transmission shaft (6) penetrates through the first supporting seat (7) to be connected with the first bracket (8), the first support seat (7) is fixedly arranged on the upper end surface of the movable frame (1), the first support (8) comprises a third motor (801), a third rotating shaft (802), a second bevel gear set (803) and a third transmission shaft (804), and a third motor (801) is arranged in the first bracket (8), the third motor (801) is connected with a third rotating shaft (802), the third rotating shaft (802) is connected with a third transmission shaft (804) through a second bevel gear set (803);
the second support seat (9) is fixedly mounted on the upper end face of the first support (8), a second support (10) is arranged above the second support seat (9), the lower end of the second support (10) is connected with a third transmission shaft (804), the left side of the second support (10) is connected with a third support (11), the third support (11) comprises a fourth motor (1101), a lead screw (1102), a sliding frame (1103) and a guide rod (1104), the upper end of the third support (11) is provided with the fourth motor (1101), the fourth motor (1101) is connected with the lead screw (1102), the lead screw (1102) is rotatably connected to the inner side wall of the third support (11), the sliding frame (1103) is connected to the lead screw (1102) in a penetrating manner, and the guide rod (1104) is arranged on the sliding frame (1103);
the second motor (12) is arranged in the third support (11), the second motor (12) is connected with the second rotating shaft (13), the lower end of the second rotating shaft (13) is connected with the second transmission shaft (14), and the lower end of the second transmission shaft (14) penetrates through the inner bottom of the third support (11) and is connected with the clamping mechanism (15).
2. A master-slave manipulator according to claim 1, wherein: remove frame (1) including power supply box (101), collection chamber (102), external pipe (103) and nozzle (104), and be provided with power supply box (101) and collection chamber (102) in removing frame (1), power supply box (101) set up the right side in collection chamber (102) simultaneously, it is provided with external pipe (103) to remove frame (1) right side to run through, and is provided with nozzle (104) on external pipe (103), and nozzle (104) run through the setting on collection chamber (102) interior top simultaneously.
3. A master-slave manipulator according to claim 1, wherein: two groups of driving wheels (2) are arranged, and the driving wheels (2) are symmetrically arranged around the axis of the moving frame (1).
4. A master-slave manipulator according to claim 1, wherein: a rotating mechanism is formed among the first motor (3), the first rotating shaft (4), the first bevel gear set (5), the first transmission shaft (6) and the first support (8), and the first support (8) is in sliding connection with the first support seat (7).
5. A master-slave manipulator according to claim 1, wherein: the third motor (801), the third rotating shaft (802), the second bevel gear set (803), the third transmission shaft (804) and the second support (10) form a rotating mechanism, and the lower end of the second support (10) is in sliding connection with the second support seat (9).
6. A master-slave manipulator according to claim 1, wherein: the second support (10) comprises a fifth motor (1001) and a fourth transmission shaft (1002), the fifth motor (1001) is arranged on the right side of the second support (10), the fifth motor (1001) is connected with the fourth transmission shaft (1002), the fourth transmission shaft (1002) is rotatably connected to the inner side wall of the second support (10), the left end of the fourth transmission shaft (1002) penetrates through the inner left side wall of the second support (10) to be connected with a third support (11), and the third support (11) is in sliding connection with the second support (10).
7. A master-slave manipulator according to claim 1, wherein: the fourth motor (1101) and the lead screw (1102) form a rotating mechanism, and the lead screw (1102) is in threaded connection with the sliding frame (1103).
8. A master-slave manipulator according to claim 1, wherein: the second motor (12), the second rotating shaft (13), the second transmission shaft (14) and the clamping mechanism (15) form a rotating mechanism.
9. A master-slave manipulator according to claim 1, wherein: the clamping mechanism (15) comprises a sixth motor (1501), a worm (1502), a worm wheel (1503), a first connecting rod (1504), a second connecting rod (1505), a clamping plate (1506), a third connecting rod (1507) and a fixing frame (1508), the sixth motor (1501) is arranged on the right side of the fixing frame (1508), the sixth motor (1501) penetrates through the right side face of the fixing frame (1508) to be connected with the worm (1502), the worm (1502) is rotatably connected to the inner right side wall of the fixing frame (1508), the worm (1504) is connected with the worm wheel (1503), the worm wheel (1503) is rotatably connected to the fixing frame (1508), meanwhile, the worm wheel (1503) is respectively arranged on the front side and the back side of the worm (1502), the worm wheel (1503) is rotatably connected with the first connecting rod (1503), and one end, far away from the worm wheel (1504), of the first connecting rod (1503) is rotatably connected with the second connecting, the second connecting rod (1505) is far away from the inner side face of one end of the first connecting rod (1504) and the clamping plate (1506), the second connecting rod (1505) is connected with a third connecting rod (1507) in a rotating mode, one end, far away from the second connecting rod (1505), of the third connecting rod (1507) is connected to the fixing frame (1508) in a rotating mode, and the third connecting rod (1507) is arranged on the left side of the worm wheel (1503).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011076362.0A CN112223244A (en) | 2020-10-10 | 2020-10-10 | Master-slave manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011076362.0A CN112223244A (en) | 2020-10-10 | 2020-10-10 | Master-slave manipulator |
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| CN112223244A true CN112223244A (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011076362.0A Pending CN112223244A (en) | 2020-10-10 | 2020-10-10 | Master-slave manipulator |
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| CN (1) | CN112223244A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62181841A (en) * | 1986-02-07 | 1987-08-10 | Mitsubishi Electric Corp | Industrial robot device |
| CN101230761A (en) * | 2007-12-16 | 2008-07-30 | 范文利 | Plane spray coating mechanical hand base on PLC |
| CN102085656A (en) * | 2009-12-03 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Right-angle coordinate robot |
| CN205076336U (en) * | 2015-10-16 | 2016-03-09 | 郑州锐达信息技术有限公司 | Categorised compression garbage truck |
| CN109940651A (en) * | 2019-04-23 | 2019-06-28 | 西安电子科技大学 | A kind of manipulator |
-
2020
- 2020-10-10 CN CN202011076362.0A patent/CN112223244A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62181841A (en) * | 1986-02-07 | 1987-08-10 | Mitsubishi Electric Corp | Industrial robot device |
| CN101230761A (en) * | 2007-12-16 | 2008-07-30 | 范文利 | Plane spray coating mechanical hand base on PLC |
| CN102085656A (en) * | 2009-12-03 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Right-angle coordinate robot |
| CN205076336U (en) * | 2015-10-16 | 2016-03-09 | 郑州锐达信息技术有限公司 | Categorised compression garbage truck |
| CN109940651A (en) * | 2019-04-23 | 2019-06-28 | 西安电子科技大学 | A kind of manipulator |
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Application publication date: 20210115 |
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| RJ01 | Rejection of invention patent application after publication |