CN112847326A - High-load joint type green brick stacking robot - Google Patents
High-load joint type green brick stacking robot Download PDFInfo
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- CN112847326A CN112847326A CN202110237054.XA CN202110237054A CN112847326A CN 112847326 A CN112847326 A CN 112847326A CN 202110237054 A CN202110237054 A CN 202110237054A CN 112847326 A CN112847326 A CN 112847326A
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- arm
- wrist
- waist
- boom
- reducer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a high-load joint type green brick stacking robot, and belongs to the technical field of mechanical equipment. The utility model provides a high load joint type adobe pile up neatly machine people includes base, waist rotation mechanism, balanced cylinder mechanism, arm mechanism, wrist mechanism, its characterized in that, the base is whole to be the flange form, through the bolt fastening on ground or workstation, waist rotation mechanism includes waist drive arrangement, waist bearing frame, thrust bearing, power output shaft and carousel, balanced cylinder mechanism is a pull rod formula single pole piston cylinder, and balanced cylinder support one end passes through the bolt and articulates on big arm bearing frame, and the other end passes through the bolt and articulates on the arm joint axle, arm mechanism includes big arm portion and forearm portion, wrist mechanism includes wrist drive arrangement, wrist output shaft, speed reducer seat, upper cover and wrist gland. The invention has the advantages of large working load, high stacking precision, compact structure, large flexibility, small occupied area and large working space.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to a high-load joint type green brick stacking robot.
Background
The continuous rising of labor cost has great impact on the brick and tile industry in China, and mainly shows the aspects of large labor consumption of setting and unloading bricks. The higher the production line throughput, the more personnel are required, and consequently the job recruitment of the brick works becomes a difficult task. At present, not only the way of automatically stacking blanks is considered in priority by a newly-built production line, but also a plurality of traditional brickyards relying on manual blank stacking also have to be technically modified so as to solve the problem of labor difficulty.
At present, Chinese full-automatic stacking and carrying equipment mainly depends on import, domestic equipment manufacturers are relatively few, the product quality is different, and the carrying robot technology is not mature. Most of the traditional automatic green brick stacking operation is completed by a rectangular coordinate type stacker crane, and the rectangular coordinate type stacker crane has the defects of large occupied area, large power consumption and the like due to the limitation of factors such as the structure and the like. And some domestic existing articulated robot palletizers can only complete automatic palletizing under small load, and the palletizing precision is low, so that the requirements of brick factories on large working load and high palletizing precision of automatic palletizing equipment are difficult to meet.
Therefore, the high-load articulated green brick stacking robot which has the advantages of large research and development workload, high stacking precision, compact structure, high flexibility, small occupied area and large working space becomes a technical subject to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a high-load joint type green brick stacking robot. The invention can realize the actions of automatically grabbing, carrying and the like of heavy goods such as green bricks and the like, and has higher stacking precision, higher carrying speed and higher carrying capacity.
In order to achieve the purpose, the invention adopts the following technical scheme:
a high-load joint type green brick stacking robot comprises a base, a waist swing mechanism, a balance cylinder mechanism, an arm mechanism, a wrist mechanism and the like.
The base is integrally flange-shaped and is fixed on the ground or a workbench through bolts. And the waist bearing seat is fixedly connected with the waist bearing seat through evenly distributed bolts.
The waist mechanism comprises a waist driving device, a waist bearing seat, a thrust bearing, a power output shaft and a rotary table. Waist drive arrangement includes waist AC servo motor and waist reduction gear, waist AC servo motor connects the waist reduction gear through the key coupling, the waist reduction gear adopts end face flange hookup form and power take off hub connection, power take off shaft drives the carousel through the parallel key hookup and is rotary motion, waist bearing frame provides the support for the motion of carousel through thrust bearing, waist bearing frame and the bolted connection of base through the equipartition simultaneously, big arm bearing frame and balance cylinder support pass through the bolt fastening on waist carousel, all the other parts are indirect to be installed on waist mechanism.
The balance cylinder mechanism is a pull rod type single-rod piston cylinder, one end of a balance cylinder support is hinged to the large arm bearing seat through a bolt, and the other end of the balance cylinder support is hinged to the arm joint shaft through a bolt. The balance cylinder is positioned in the middle of the bracket, and the cylinder body and the piston rod are respectively connected with a slide block with a hole. The large arm bearing seat support is fixed with the cylinder body slide block through four connecting rods passing through the piston rod slide block through bolts, and the arm joint balance bar support is fixed with the piston rod slide block through bolts through four connecting rods passing through the cylinder body slide block.
The arm mechanism includes a large arm portion and a small arm portion:
the big arm part comprises a big arm rotary mechanism, a vertical pull rod and a big arm main arm, the big arm rotary supporting mechanism comprises a big arm bearing seat, a big arm reducer and a big arm AC servo motor, the big arm AC servo motor is connected to the big arm reducer through a key, the big arm reducer is fixedly connected with a connecting gland, the connecting gland is fixedly arranged on the big arm main arm and transmits power to a big arm transmission shaft through a transmission key, the big arm transmission shaft transmits driving force to a big arm gland on the other side of the big arm main arm through the transmission key, the big arm gland is fixedly arranged on the big arm main arm, the upper end of the big arm main arm is fixedly connected with a small arm rotary supporting mechanism through two rows of bolts, the big arm bearing seat is fixedly connected with a waist turntable through bolts, the big arm main arm structure adopts a hollow thin-wall rectangular frame structure and is made of low-alloy high-strength structural steel through welding, the vertical pull rod is always parallel to the big arm in the, the upper end of the vertical pull rod is hinged with the left end of the rocker arm of the small arm part, and the lower end of the vertical pull rod is hinged with the balance rod bracket and plays a supporting role with the balance bar mechanism in the whole working process.
The small arm part comprises a small arm rotary supporting mechanism, a rocker arm, a transverse pull rod and a small arm main arm, the small arm rotary supporting mechanism comprises a small arm bearing seat, a small arm speed reducer and a small arm alternating current servo motor, the structure of the small arm rotary supporting mechanism is similar to that of the large arm rotary supporting mechanism, the lower end of the small arm rotary supporting mechanism is connected with the upper end of the large arm main arm through a bolt, the structure of the small arm main arm is similar to that of the large arm main arm, a hollow thin-wall rectangular frame structure is also adopted, the transverse pull rod is parallel to the small arm main arm, the front end of the transverse pull rod is hinged with an upper cover of the wrist mechanism, the rear end of the transverse pull rod is hinged with the right end of the rocker arm, and the whole arm part forms a wrist posture adjusting mechanism, so that the wrist mounting seat is.
The wrist mechanism comprises a wrist driving device, a wrist output shaft, a speed reducer seat, an upper cover and a wrist gland, the wrist driving device is a wrist reducer and a wrist alternating current servo motor which are vertically arranged to the ground, the wrist alternating current servo motor is connected with the wrist reducer through a transmission key, the wrist alternating current servo motor is fixed at the upper end of the upper cover through a bolt, the upper cover has stronger bearing capacity, the upper end and the left end of the upper cover are respectively hinged with the right end of a transverse pull rod and the small end of a small arm main arm and form a parallelogram connecting rod mechanism together with a rocker arm, the speed reducer seat is connected with the upper cover through uniformly distributed bolts, the wrist reducer and the wrist output shaft are fixed in an end face flange connection mode, and an angular contact ball bearing is in interference fit with, the wrist output shaft is supported by positioning the shaft shoulder of the wrist output shaft and the wrist gland, and the wrist gland is fixedly connected with the reducer seat through six uniformly distributed bolts.
The speed reducers related to the waist driving device, the large arm slewing bearing mechanism, the small arm slewing supporting mechanism and the wrist driving device are cycloidal pin gear speed reducers.
When the waist driving device works and is used, the waist driving device transmits torque to the waist power output shaft, and the power output shaft transmits power to the rotary table through key connection, so that the balance cylinder mechanism, the arm mechanism and the wrist mechanism are driven to rotate correspondingly; meanwhile, the arm mechanism performs pitching, rotating, lifting, stretching and the like under the action of the large arm rotation supporting mechanism and the small arm rotation supporting mechanism, the wrist driving device transmits torque to the wrist output shaft, the wrist output shaft transmits the torque to the end effector to realize rotation of the end effector, and the two parallelogram connecting rod mechanisms consisting of the large arm main arm, the vertical pull rod, the balance cylinder, the rocker arm, the small arm main arm, the transverse pull rod and the upper cover enable the wrist mounting seat to be kept horizontal all the time when the robot moves.
Compared with the prior art, the invention has the advantages that:
the large arm main arm and the small arm main arm are of hollow thin-wall rectangular frame structures formed by welding, so that the structural strength of the large arm main arm and the small arm main arm can be enhanced, the weight is reduced, the load of a driving device and the dynamic load and impact generated during operation are reduced, the response speed of arm movement can be improved, and the welding part is simple in structure, convenient to obtain materials, low in cost, easy to master the welding operation technology, and easy to realize mechanization and automation.
The wrist main body part is made by casting, has stronger bearing capacity, improves the rigidity of transmission, and has simple transmission route and reduced reverse return difference generated by gaps in a mechanical transmission system.
The balance cylinder of the invention adopts a pull rod type single-rod piston cylinder balance mode, and is connected to the large-arm bearing seat and the arm slewing mechanism through the brackets on two sides of the balance cylinder, thereby playing the roles of balancing the tension of the vertical pull rod and improving the bearing capacity.
The stacking manipulator has the advantages of compact structure, high flexibility, small occupied area, favorable good layout of a workshop, convenience in production and manufacture due to the fact that most parts are manufactured by welding and casting, capability of stacking heavy-load goods and high stacking precision compared with the existing stacking manipulator.
Drawings
FIG. 1 is a schematic structural diagram of a joint type green brick stacking robot according to the invention;
FIG. 2 is a schematic view of the waist structure of the joint parison palletizing robot disclosed by the invention;
FIG. 3 is a schematic view of a large arm rotation support structure of the joint parison palletizing robot according to the invention;
FIG. 4 is a schematic view of a small arm rotation support structure of the joint parison palletizing robot, provided by the invention;
fig. 5 is a schematic structural diagram of a wrist mechanism of the joint parison palletizing robot.
Reference numerals: 1. a base; 2. a lumbar drive device; 201. a waist alternating current servo motor; 202. a waist reducer; 3. a turntable; 4. a large arm slewing bearing mechanism; 401. a large arm AC servo motor; 402. a large arm reducer; 403. a boom bearing housing; 5. a large arm main arm; 6. a small arm slewing bearing mechanism; 601. a forearm AC servo motor; 602. a small arm reducer; 603. a small arm bearing seat; 7. a speed reducer seat; 8. a wrist driving device; 801. a wrist AC servo motor; 802. a wrist reducer; 9. an upper cover; 10. a tie rod; 11. a small arm main arm; 12. a rocker arm; 13. a vertical pull rod; 14. a balance cylinder device; 15. a waist motor; 16. a power take-off shaft; 17. a waist bearing seat; 18. a thrust bearing; 19. connecting a gland; 20. a large arm gland; 21. a large arm transmission shaft; 22. a coupling disk; 23. a small arm gland bush; 24. a small arm transmission shaft; 25. a wrist output shaft; 26. angular contact ball bearings; 27. A wrist gland.
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.
The high-load joint type green brick stacking robot has a working structure as shown in figure 1, wherein a base 1 is an installation carrier of the stacking robot, is fixedly connected to a foundation through bolts, and is fixedly connected with a waist bearing seat 17 through bolts. The arm mechanism consists of a large arm part and a small arm part, the large arm part comprises a large arm rotary supporting mechanism 4, a vertical pull rod 13 and a large arm main arm 5, the balance cylinder device 14 is a pull rod type single-rod piston cylinder, one end of a balance cylinder support is hinged on a large arm bearing seat 403 through a bolt, and the other end of the balance cylinder support is hinged on an arm joint shaft through a bolt. The balance cylinder is positioned in the middle of the bracket, and the cylinder body and the piston rod are respectively connected with a slide block with a hole.
As shown in fig. 2, the waist mechanism includes a waist driving device 2, a waist bearing seat 17, a thrust bearing 18, a power output shaft 16 and a rotary table 3, the waist driving device 2 includes a waist alternating current servo motor 201 and a waist reducer 202, the waist alternating current servo motor 201 is connected with the waist reducer 202 through a key connection, the waist reducer 202 is connected with the power output shaft 16 in an end face flange connection mode, the power output shaft 16 drives the rotary table 3 to do a rotary motion through a flat key connection, the waist bearing seat 17 provides a support for the motion of the rotary table 3 through the thrust bearing 18, meanwhile, the waist bearing seat 17 is connected with the base 1 through uniformly distributed bolts, the boom bearing seat 403 and the balance cylinder support 15 are fixed on the waist rotary table through bolts, and other parts are indirectly installed on the waist mechanism.
As shown in fig. 3, the large arm slewing bearing mechanism 4 includes a large arm bearing block 403, a large arm reducer 402 and a large arm ac servomotor 401, the large arm ac servomotor 401 is connected to the large arm reducer 402 by a key, the large arm reducer 402 is fixedly connected to a coupling gland 19 by an end face flange coupling, the coupling gland 19 is fixedly mounted on the large arm main arm 5 by a flange coupling, and transmits power to a large arm transmission shaft 21 by a transmission key, the large arm transmission shaft 21 transmits driving force to a large arm gland 20 on the other side of the large arm main arm by a transmission key, the large arm gland 20 is fixedly mounted on the large arm main arm 5 by a flange coupling, so as to reduce dynamic load and impact generated during single-side driving operation, the upper end of the large arm main arm 5 is fixedly connected to the small arm slewing bearing mechanism by two rows of bolts, and four of each row are uniformly arranged.
As shown in fig. 4, the small arm rotary support mechanism 6 includes a small arm bearing seat 603, a small arm reducer 602 and a small arm ac servo motor 601, the small arm rotary support mechanism 6 is similar to the large arm rotary support mechanism 4 in structure, the small arm reducer 602 is fixedly connected to the coupling plate 22 in an end surface flange coupling manner, the coupling plate 22 is fixedly mounted on the small arm main arm 11 in a flange coupling manner, and transmits power to the small arm transmission shaft 24 through a transmission key, the small arm transmission shaft 24 transmits driving force to the small arm gland 23 on the other side of the small arm main arm through the transmission key, and the small arm part further includes a rocker arm 12, a tie rod 10 and the small arm main arm 11. As shown in fig. 1, the right end of the rocker arm 12 is hinged with the left end of a transverse pull rod 10, the left end of the rocker arm is hinged with the upper end of a vertical pull rod 13, and the middle of the rocker arm is fixedly connected with a small arm rotary supporting mechanism 6 through a bolt; the lower end of a vertical pull rod 13 is hinged with a balance rod support 15, the vertical pull rod 13 is always parallel to the large arm main arm 5 in the working process, a transverse pull rod 10 is always parallel to the small arm main arm 11, and the right end of the transverse pull rod is hinged with an upper cover 9 of the wrist mechanism.
As shown in fig. 5, the wrist mechanism includes a wrist driving device 8, a wrist output shaft 25, a reducer seat 7, an upper cover 9 and a wrist gland 27, the wrist driving device 8 is a wrist reducer 802 and a wrist ac servo motor 801 vertically installed to the ground, the wrist ac servo motor 801 is connected with the wrist reducer 802 through a transmission key, the wrist ac servo motor 802 is fixed at the upper end of the upper cover 9 through four evenly distributed bolts; as shown in fig. 1, the upper end and the left end of the upper cover 9 are respectively hinged with the right end of the tie rod 10 and the small end of the small arm main arm 11, and form a parallelogram link mechanism together with the rocker arm 12, the reducer base 7 is connected with the upper cover 9 through twelve evenly distributed bolts, the wrist reducer 802 is fixed with the wrist output shaft 25 in an end face flange connection mode, the angular contact ball bearing 26 is in interference fit with a through hole of the reducer base 7, the wrist output shaft 25 is supported by positioning through a shaft shoulder of the wrist output shaft 25 and the wrist gland 27, and the wrist gland 27 is connected and fixed with the reducer base 7 through six evenly distributed bolts.
The whole mechanism forms two parallelogram link mechanisms, and the two parallelogram link mechanisms and the rocker arm (three-motion auxiliary rod) form a wrist posture adjusting mechanism, so that the wrist mounting seat is kept horizontal all the time when the robot works, namely the working posture of the robot end effector is kept unchanged all the time when the robot moves.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a high load joint type adobe pile up neatly machine people includes base, waist rotation mechanism, balanced cylinder mechanism, arm mechanism, wrist mechanism, its characterized in that, the whole flange form that is of base, fixes on ground or workstation through the bolt, and is fixed through evenly distributed's bolted connection with the waist bearing frame, waist rotation mechanism includes waist drive arrangement, waist bearing frame, thrust bearing, power output shaft and carousel, balanced cylinder mechanism is a pull rod formula single-rod piston cylinder, and balanced cylinder support one end passes through the bolt and articulates on big arm bearing frame, and the other end passes through the bolt and articulates on the arm joint is epaxial, arm mechanism includes big arm portion and forearm portion, wrist mechanism includes wrist drive arrangement, wrist output shaft, speed reducer seat, upper cover and wrist gland.
2. The high-load joint type green brick stacking robot as claimed in claim 1, wherein the waist driving device comprises a waist alternating current servo motor and a waist reducer, the waist alternating current servo motor is connected with the waist reducer through a key connection, the waist reducer is connected with a power output shaft in an end face flange connection mode, the power output shaft drives a rotary table to rotate through a flat key connection, and a waist bearing seat provides support for the rotation of the rotary table through a thrust bearing and is connected with a base through uniformly distributed bolts.
3. The high-load joint type green brick stacking robot as claimed in claim 1, wherein the balance cylinder is located in the middle of the support, the cylinder body and the piston rod are respectively connected with a slide block with a hole, and the large-arm bearing seat support is fixed with the cylinder body slide block through bolts by four connecting rods passing through the piston rod slide block.
4. A high-load articulated green brick stacking robot as claimed in claim 1, wherein the boom arm part comprises a boom slewing support mechanism, a vertical draw bar and a boom arm main arm, the boom slewing support mechanism comprises a boom bearing block, a boom reducer and a boom AC servo motor, the boom AC servo motor is connected to the boom reducer through a key, the boom reducer is fixedly connected to a connecting gland, the connecting gland is fixedly mounted on the boom arm main arm and transmits power to a boom transmission shaft through a transmission key, the boom transmission shaft transmits driving force to a boom gland on the other side of the boom arm main arm through a transmission key, the boom gland is fixedly mounted on the boom arm main arm, the upper end of the boom arm main arm is fixedly connected to the boom slewing support mechanism through two rows of bolts, and the boom bearing block is fixed to the waist turntable through bolts, the large-arm main arm structure is of a hollow thin-wall rectangular frame structure and is made of steel plates of low-alloy high-strength structural steel through welding, the vertical pull rod is always parallel to the large arm in the working process, the upper end of the vertical pull rod is hinged to the left end of the rocker arm of the small arm part, the lower end of the vertical pull rod is hinged to the balance rod support, and the vertical pull rod and the balance rod mechanism play a supporting role in the whole working process.
5. The high-load joint type green brick stacking robot as claimed in claim 1, wherein the small arm part comprises a small arm rotation supporting mechanism, a rocker arm, a cross pull rod and a small arm main arm, the small arm rotation supporting mechanism comprises a small arm bearing seat, a small arm reducer and a small arm alternating current servo motor, the lower end of the small arm rotation supporting mechanism is connected with the upper end of the large arm main arm through a bolt, a hollow thin-wall rectangular frame structure is adopted, the cross pull rod is parallel to the small arm main arm, the front end of the cross pull rod is hinged to an upper cover of the wrist mechanism, the rear end of the cross pull rod is hinged to the right end of the rocker arm, and the whole arm part forms a wrist posture adjusting mechanism.
6. A high-load articulated green brick palletizing robot as claimed in claim 1, the wrist driving device is a wrist reducer and a wrist alternating current servo motor which are vertically arranged to the ground, the wrist alternating current servo motor is connected with the wrist reducer through a transmission key, the upper end and the left end of the upper cover are respectively hinged with the right end of the transverse pull rod and the small end of the small arm main arm to form a parallelogram link mechanism together with the rocker arm, the reducer seat is connected with the upper cover through evenly distributed bolts, the wrist reducer and the wrist output shaft are fixed in a mode of end face flange connection, the angular contact ball bearing is in interference fit with a through hole of the reducer seat, the wrist output shaft is supported by positioning the shaft shoulder of the wrist output shaft and the wrist gland, and the wrist gland is fixedly connected with the reducer seat through six uniformly distributed bolts.
7. The high-load joint type green brick stacking robot as claimed in claim 1, wherein speed reducers involved in the waist driving device, the large arm slewing bearing mechanism, the small arm slewing bearing mechanism and the wrist driving device are cycloidal pin gear speed reducers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110237054.XA CN112847326A (en) | 2021-03-03 | 2021-03-03 | High-load joint type green brick stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110237054.XA CN112847326A (en) | 2021-03-03 | 2021-03-03 | High-load joint type green brick stacking robot |
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| CN112847326A true CN112847326A (en) | 2021-05-28 |
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| CN202110237054.XA Pending CN112847326A (en) | 2021-03-03 | 2021-03-03 | High-load joint type green brick stacking robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977569A (en) * | 2021-11-15 | 2022-01-28 | 杭州千岛湖瑞淳机器人研究院有限公司 | Light three-translation robot |
| CN114734455A (en) * | 2022-03-23 | 2022-07-12 | 北京航空航天大学 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
-
2021
- 2021-03-03 CN CN202110237054.XA patent/CN112847326A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977569A (en) * | 2021-11-15 | 2022-01-28 | 杭州千岛湖瑞淳机器人研究院有限公司 | Light three-translation robot |
| CN114734455A (en) * | 2022-03-23 | 2022-07-12 | 北京航空航天大学 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
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