CN112571437B - Multi-operation type manipulator for intelligent manufacturing - Google Patents
Multi-operation type manipulator for intelligent manufacturing Download PDFInfo
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- CN112571437B CN112571437B CN202011361494.8A CN202011361494A CN112571437B CN 112571437 B CN112571437 B CN 112571437B CN 202011361494 A CN202011361494 A CN 202011361494A CN 112571437 B CN112571437 B CN 112571437B
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- movable rod
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000000149 penetrating effect Effects 0.000 claims 2
- 230000009471 action Effects 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms, in particular to a multi-operation type mechanical arm for intelligent manufacturing, which comprises a mounting plate, a fixing plate and a plurality of clamping mechanisms arranged below the fixing plate, wherein each clamping mechanism comprises a connecting disc arranged below the fixing plate and a plurality of clamping rods uniformly distributed below the connecting disc, one end of each clamping rod is rotatably connected with the connecting disc, the other end of each clamping rod is provided with a clamping surface, a sliding groove is formed in the mounting plate, and a sliding block matched with the sliding groove is arranged in the sliding groove.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multi-operation manipulator for intelligent manufacturing.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
At present, the manipulator is often used in the field of intelligent manufacturing to replace manual operation, but the general traditional manipulator has a single structure, can only grab a workpiece once, and influences the production efficiency.
Disclosure of Invention
The present invention is directed to a multi-manipulator robot for smart manufacturing, which solves the above-mentioned problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a many operation type manipulator for intelligence is made, includes mounting panel, fixed plate and a plurality of fixture of setting in the fixed plate below, fixture is including setting up at the connection pad of fixed plate below and evenly laying a plurality of clamping bars in the connection pad below, and the one end and the connection pad of clamping bar rotate to be connected, and the other end is equipped with the clamping face, be equipped with the spout on the mounting panel, be equipped with the slider of adaptation in the spout, slider and spout sliding connection, and the slider is connected with the one end of the movable rod of setting on the connection pad, the movable rod passes the connection pad with the long waist shape slotted hole sliding connection who sets up at the fixed plate, and the other end of movable rod, movable rod and connection pad sliding connection, and a plurality of branches have been laid on the movable rod passes one end of connection pad, and the one end and the movable rod rotation of branch are connected, and the other end rotates with the clamping bar to be connected.
As a further scheme of the invention: the top of mounting panel is equipped with the upper plate, is equipped with a power rod on the upper plate, and evenly has laid a plurality of through-holes on the upper plate, evenly laid a plurality of racks on the mounting panel, the one end and the mounting panel of rack are connected, and the other end passes the through-hole and sets up the gear engagement on the power rod, the one end and the output that set up the motor at the upper plate of power rod are connected.
As a still further scheme of the invention: the utility model discloses a buffer spring's of guide bar, including upper plate, mounting panel, guide bar, buffer spring, guide bar, mounting panel, buffer spring's the both ends of guide bar are equipped with the guide bar, and the both ends of guide bar are connected with upper plate and fixed plate respectively, and guide bar and mounting panel sliding connection, the both ends cover respectively of guide bar has a buffer spring, and the both ends of the buffer spring of the guide bar one end are connected with upper plate and mounting panel respectively, and the both ends of the buffer spring of the guide bar other end are connected with fixed plate and mounting panel respectively.
As a still further scheme of the invention: one side of slider is equipped with the threaded rod, and the one end and the slider of threaded rod are connected, and the other end passes the long kidney-shaped side opening that sets up in mounting panel one side, and threaded rod and the fastening nut threaded connection who sets up in mounting panel one side.
As a still further scheme of the invention: the movable rod passes one end below of connection pad and is equipped with auxiliary electromagnet, is equipped with the slide bar between auxiliary electromagnet and the movable rod, and the one end and the auxiliary electromagnet of slide bar are connected, and the other end and movable rod sliding connection, the slide bar overcoat has the spring, and the both ends of spring are connected with movable rod and auxiliary electromagnet respectively.
As a still further scheme of the invention: and a clamping plate is arranged above the clamping surface, one end of the clamping plate is rotatably connected with the clamping rod, and the other end of the clamping plate is connected with the clamping rod through a pressure spring.
As a still further scheme of the invention: the one end of power pole is connected with the output of motor, and the other end rotates with the safety valve body to be connected, be equipped with the stopper in the safety valve body, the one end of stopper and the safety gear adaptation of setting on the power pole, the other end are equipped with the touch panel, and the below of touch panel is equipped with electromagnet mechanism, and the touch panel passes through the screens spring and is connected with electromagnet mechanism, the last montant that is equipped with of electromagnet mechanism, montant and touch panel sliding connection.
Compared with the prior art, the invention has the beneficial effects that:
1. the fixed plate below is connected with a plurality of fixture, can make a plurality of work pieces of multi-operation type manipulator once centre gripping, has improved production efficiency, simultaneously, sliding fit between slider and the spout, and the staff of being convenient for adjusts fixture centre gripping work piece's interval, has improved the commonality of multi-operation type manipulator.
2. After the clamping rod clamps the workpiece, the auxiliary electromagnet generates magnetic force to suck the workpiece, and the clamping plate supports against the side face of the workpiece under the action of the pressure spring, so that the multi-operation manipulator can clamp the workpiece more firmly.
When the manipulator is powered off, the electromagnet mechanism loses magnetism, one end of the limiting block is clamped into the safety gear under the action of the clamping spring to limit the rotation of the power rod, so that the clamping of the manipulator after the power off is ensured to be in a rotating state, and the safety of the multi-operation manipulator is improved.
Drawings
Fig. 1 is a schematic structural view of a multi-manipulator robot for smart manufacturing.
Fig. 2 is a schematic structural view of a mounting plate in a multi-manipulator robot for smart manufacturing.
Fig. 3 is a schematic view showing the structure of an upper plate in a multi-manipulator robot for smart manufacturing.
Fig. 4 is a schematic structural view of a gripping mechanism in a multi-manipulator robot for smart manufacturing.
Fig. 5 is a schematic view showing a structure of a safety gear in a multi-manipulator for smart manufacturing.
1-upper plate, 2-mounting plate, 3-fixing plate, 4-clamping mechanism, 5-buffer spring, 6-motor, 7-gear, 8-rack, 9-power rod, 10-long waist-shaped side hole, 11-long waist-shaped slotted hole, 12-safety valve body, 13-chute, 14-guide rod, 15-through hole, 16-slide block, 17-fastening nut, 18-threaded rod, 19-movable rod, 20-connecting disc, 21-supporting rod, 22-clamping rod, 23-slide rod, 24-spring, 25-auxiliary electromagnet, 26-clamping plate, 27-pressure spring, 28-threaded rod, 29-safety gear, 30-limiting block, 31-touch plate, 32-clamping spring, 33-vertical rod, 34-electromagnet mechanism.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
The present invention will be described in detail with reference to the following embodiments, wherein like or similar elements are designated by like reference numerals throughout the several views, and wherein the shape, thickness or height of the various elements may be expanded or reduced in practice. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
Example 1
Referring to fig. 1-5, a multi-operation manipulator for intelligent manufacturing includes a mounting plate 2, a fixing plate 3 and a plurality of clamping mechanisms 4 disposed below the fixing plate 3, wherein the clamping mechanisms 4 include a connecting plate 20 disposed below the fixing plate 3 and a plurality of clamping rods 22 uniformly disposed below the connecting plate 20, one end of each clamping rod 22 is rotatably connected to the connecting plate 20, the other end of each clamping rod 22 is provided with a clamping surface 28, the mounting plate 2 is provided with a sliding groove 13, the sliding groove 13 is provided with a sliding block 16 adapted to the sliding groove 13, the sliding block 16 is slidably connected to the sliding groove 13, the sliding block 16 is connected to one end of a movable rod 19 disposed on the connecting plate 20, the movable rod 19 is slidably connected to a long waist-shaped slot 11 disposed on the fixing plate 3, the other end of the movable rod 19 passes through the connecting plate 20, the movable rod 19 is slidably connected to the connecting plate 20, the movable rod 19 passes through one end of the connecting plate 20 and is provided with a plurality of supporting rods 21, one end and the movable rod 19 of branch 21 rotate to be connected, the other end rotates with clamping bar 22 to be connected, in use, can drive movable rod 19 through mounting panel 2 and move in vertical direction, thereby control clamping bar 22 centre gripping work piece, through setting up a plurality of fixture 4 in fixed plate 3 below, can make a plurality of work pieces of once centre gripping of many operation type manipulator, the production efficiency of work piece has been improved, slider 16 and 13 sliding fit of spout simultaneously, the staff of being convenient for adjusts the interval of 4 centre gripping work pieces of fixture, the commonality of many operation type manipulator has been improved.
The top of mounting panel 2 is equipped with upper plate 1, is equipped with a power rod 9 on the upper plate 1, and evenly has laid a plurality of through-holes 15 on the upper plate 1, evenly laid a plurality of racks 8 on the mounting panel 2, the one end and the mounting panel 2 of rack 8 are connected, and the other end passes through-hole 15 and sets up the gear 7 meshing on power rod 9, can drive gear 7 through power rod 9 and rotate, the one end of power rod 9 is connected with the output that sets up motor 6 at upper plate 1, can drive power rod 9 through motor 6 and rotate, makes rack 8 drive mounting panel 2 move in vertical direction to control clamping bar 22 centre gripping work piece.
The both ends of upper plate 1 are equipped with guide bar 14, and the both ends of guide bar 14 are connected with upper plate 1 and fixed plate 3 respectively, and guide bar 14 and 2 sliding connection of mounting panel, the both ends of guide bar 14 overlap respectively has a buffer spring 5, and the both ends of the buffer spring 5 of the 14 one ends of guide bar are connected with upper plate 1 and mounting panel 2 respectively, and the both ends of the buffer spring 5 of the 14 other ends of guide bar are connected with fixed plate 3 and mounting panel 2 respectively, can make mounting panel 2 up-and-down motion's process more stable through buffer spring 5, stability when having improved many operation type manipulator centre gripping.
One side of slider 16 is equipped with threaded rod 18, and the one end and the slider 16 of threaded rod 18 are connected, and the other end passes the long waist shape side opening 10 that sets up in mounting panel 2 one side, and threaded rod 18 and the fastening nut 17 threaded connection who sets up in mounting panel 2 one side, through screwing up fastening nut 17, can fix the position of slider 16 in spout 13, make fixture 4 can be more stable fix on mounting panel 2.
The utility model discloses a multi-operation type manipulator, including connecting pad 20, movable rod 19, slide bar 23, auxiliary electromagnet 25, spring 24, movable rod 22, auxiliary electromagnet 25, movable rod 19, slide bar 23 and movable rod 19, the one end below that movable rod 19 passed connecting pad 20 is equipped with auxiliary electromagnet 25, is equipped with slide bar 23 between auxiliary electromagnet 25 and the movable rod 19, and the one end and the auxiliary electromagnet 25 of slide bar 23 are connected, and the other end and movable rod 19 sliding connection, slide bar 23 overcoat has spring 24, and the both ends of spring 24 are connected with movable rod 19 and auxiliary electromagnet 25 respectively, and after the work piece was held to clamping bar 22, auxiliary electromagnet 25 produced magnetic force and holds the work piece, makes the work piece of cliping of multi-operation type manipulator ability more firm.
When the clamping mechanism 4 is used, when the clamping rod 22 clamps a workpiece, the clamping plate 26 abuts against the side face of the workpiece under the action of the pressure spring 27, and the stability of clamping the workpiece by the clamping mechanism 4 is improved.
The working principle of the embodiment is as follows: when the multi-operation manipulator is used, the motor 6 drives the power rod 9 to rotate, the gear 7 is linked, the rack 8 drives the mounting plate 2 to move in the vertical direction, the movable rod 19 drives the supporting rod 21 to move, the clamping rod 22 is controlled to clamp a workpiece, the plurality of clamping mechanisms 4 are connected below the fixing plate 3, the multi-operation manipulator can clamp a plurality of workpieces at one time, the sliding blocks 16 are in sliding fit with the sliding grooves 13, a worker can conveniently adjust the distance between the clamping mechanisms 4 and the workpiece, the fastening nuts 17 are screwed, the position of the sliding blocks 16 in the sliding grooves 13 can be fixed, after the clamping rods 22 clamp the workpiece, the auxiliary electromagnets 25 generate magnetic force to suck the workpiece, the clamping plates 26 abut against the side faces of the workpiece under the action of the pressure springs 27, and the multi-operation manipulator can clamp the workpiece more firmly.
Example 2
In order to improve the safety of the multi-operation type manipulator, the present embodiment is further improved based on embodiment 1, and the improvement is as follows: one end of the power rod 9 is connected with the output end of the motor 6, the other end of the power rod is rotatably connected with the safety valve body 12, a limiting block 30 is arranged in the safety valve body 12, one end of the limiting block 30 is matched with a safety gear 29 arranged on the power rod 9, a touch panel 31 is arranged at the other end of the power rod, an electromagnet mechanism 34 is arranged below the touch panel 31, the touch panel 31 is connected with the electromagnet mechanism 34 through a clamping spring 32, the electromagnet mechanism 34 is provided with a vertical rod 33, the vertical rod 33 is slidably connected with the touch panel 31, when the power rod is used, the electromagnet mechanism 34 generates magnetic force to attract the touch panel 31 to move downwards, one end of the limiting block 30 is separated from the safety gear 29, so that the power rod 9 can rotate freely, when the manipulator is powered off suddenly, the electromagnet mechanism 34 loses magnetism, one end of the limiting block 30 is clamped into the safety gear 29 under the action of the clamping spring 32 to limit the rotation of the power rod 9, thereby ensuring that the manipulator can keep the current clamping rotation state after the power rod is powered off, the safety of the multi-operation type manipulator is improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A multi-operation manipulator for intelligent manufacturing comprises a mounting plate (2), a fixing plate (3) and a plurality of clamping mechanisms (4) arranged below the fixing plate (3), and is characterized in that each clamping mechanism (4) comprises a connecting disc (20) arranged below the fixing plate (3) and a plurality of clamping rods (22) uniformly distributed below the connecting disc (20), one end of each clamping rod (22) is rotatably connected with the connecting disc (20), the other end of each clamping rod is provided with a clamping face (28), a sliding groove (13) is formed in the mounting plate (2), a sliding block (16) matched with the sliding groove is arranged in the sliding groove (13), the sliding block (16) is slidably connected with the sliding groove (13), the sliding block (16) is connected with one end of a movable rod (19) arranged on the connecting disc (20), the movable rod (19) is slidably connected with a long waist-shaped groove hole (11) formed in the fixing plate (3), the other end of the movable rod (19) penetrates through the connecting disc (20), the movable rod (19) is connected with the connecting disc (20) in a sliding mode, a plurality of supporting rods (21) are distributed at one end, penetrating through the connecting disc (20), of the movable rod (19), one end of each supporting rod (21) is rotatably connected with the movable rod (19), and the other end of each supporting rod is rotatably connected with the clamping rod (22);
an upper plate (1) is arranged above the mounting plate (2), a power rod (9) is arranged on the upper plate (1), a plurality of through holes (15) are uniformly distributed on the upper plate (1), a plurality of racks (8) are uniformly distributed on the mounting plate (2), one end of each rack (8) is connected with the mounting plate (2), the other end of each rack penetrates through the corresponding through hole (15) to be meshed with a gear (7) arranged on the power rod (9), and one end of the power rod (9) is connected with the output end of a motor (6) arranged on the upper plate (1);
the two ends of the upper plate (1) are provided with guide rods (14), the two ends of each guide rod (14) are respectively connected with the upper plate (1) and the fixed plate (3), the guide rods (14) are slidably connected with the mounting plate (2), two ends of each guide rod (14) are respectively sleeved with a buffer spring (5), two ends of each buffer spring (5) at one end of each guide rod (14) are respectively connected with the upper plate (1) and the mounting plate (2), and two ends of each buffer spring (5) at the other end of each guide rod (14) are respectively connected with the fixed plate (3) and the mounting plate (2);
one side of slider (16) is equipped with threaded rod (18), and the one end and the slider (16) of threaded rod (18) are connected, and the long waist shape side opening (10) that set up in mounting panel (2) one side are passed to the other end, and threaded rod (18) and fastening nut (17) threaded connection who sets up in mounting panel (2) one side.
2. The manipulator for intelligent manufacturing according to claim 1, wherein an auxiliary electromagnet (25) is arranged below one end of the movable rod (19) penetrating through the connecting disc (20), a sliding rod (23) is arranged between the auxiliary electromagnet (25) and the movable rod (19), one end of the sliding rod (23) is connected with the auxiliary electromagnet (25), the other end of the sliding rod is connected with the movable rod (19) in a sliding manner, a spring (24) is sleeved outside the sliding rod (23), and two ends of the spring (24) are respectively connected with the movable rod (19) and the auxiliary electromagnet (25).
3. The manipulator for intelligent manufacturing according to claim 2, wherein a clamping plate (26) is arranged above the clamping surface (28), one end of the clamping plate (26) is rotatably connected with the clamping rod (22), and the other end of the clamping plate (26) is connected with the clamping rod (22) through a pressure spring (27).
4. The manipulator for intelligent manufacturing according to claim 1, wherein one end of the power rod (9) is connected to the output end of the motor (6), the other end of the power rod is rotatably connected to the safety valve body (12), a limiting block (30) is disposed in the safety valve body (12), one end of the limiting block (30) is adapted to a safety gear (29) disposed on the power rod (9), the other end of the limiting block is provided with a touch plate (31), an electromagnet mechanism (34) is disposed below the touch plate (31), the touch plate (31) is connected to the electromagnet mechanism (34) through a clamping spring (32), a vertical rod (33) is disposed on the electromagnet mechanism (34), and the vertical rod (33) is slidably connected to the touch plate (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011361494.8A CN112571437B (en) | 2020-11-28 | 2020-11-28 | Multi-operation type manipulator for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011361494.8A CN112571437B (en) | 2020-11-28 | 2020-11-28 | Multi-operation type manipulator for intelligent manufacturing |
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| Publication Number | Publication Date |
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| CN112571437A CN112571437A (en) | 2021-03-30 |
| CN112571437B true CN112571437B (en) | 2022-05-31 |
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| CN202011361494.8A Active CN112571437B (en) | 2020-11-28 | 2020-11-28 | Multi-operation type manipulator for intelligent manufacturing |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371438A (en) * | 2021-06-16 | 2021-09-10 | 西安工业大学 | A tipping arrangement for processing automobile parts |
| CN115533954B (en) * | 2022-10-24 | 2023-04-21 | 北京电子科技职业学院 | Two-finger self-adaptive mechanical arm structure and multi-shaft mechanical arm with same |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227729B (en) * | 2013-06-13 | 2016-08-24 | 鸿富锦精密工业（深圳）有限公司 | Clamping device |
| CN105923382B (en) * | 2016-06-24 | 2018-09-21 | 博众精工科技股份有限公司 | A kind of connecting rod clamping device |
| CN206493332U (en) * | 2017-02-08 | 2017-09-15 | 山东科技大学 | A kind of Novel adjustable mechanical arm clamping jaw device |
| CN208994641U (en) * | 2018-08-21 | 2019-06-18 | 安徽森德自动化工业股份有限公司 | A kind of carrying clamping device of papery pail pack |
| CN209112453U (en) * | 2018-11-01 | 2019-07-16 | 高博通信（上海）有限公司 | A kind of seat back-rest framework adjusting component |
| CN211220736U (en) * | 2019-12-11 | 2020-08-11 | 山东职业学院 | Magnetic type mechanical clamping jaw for machine manufacturing |
| CN111874608A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change material taking manipulator |
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Effective date of registration: 20240706 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Country or region after: China Address before: No. 1169, Quanbei West Street, Xingtai City, Hebei Province Patentee before: HEBEI INSTITUTE OF MACHINERY ELECTRICITY Country or region before: China |
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