CN113276168A - Arm following lubricating device for mechanical arm - Google Patents

Arm following lubricating device for mechanical arm Download PDF

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Publication number
CN113276168A
CN113276168A CN202110816646.7A CN202110816646A CN113276168A CN 113276168 A CN113276168 A CN 113276168A CN 202110816646 A CN202110816646 A CN 202110816646A CN 113276168 A CN113276168 A CN 113276168A
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China
Prior art keywords
mechanical arm
arm
lubricating oil
pipe
fixedly connected
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CN202110816646.7A
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Chinese (zh)
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CN113276168B (en
Inventor
任健
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Nantong Chuanghao Machinery Co ltd
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Nantong Chuanghao Machinery Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062Lubrication means

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Details Of Gearings (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an arm following lubricating device for a mechanical arm, which comprises: the storage mechanism is fixedly arranged on the base and used for storing lubricating oil to be conveyed to the joint of the second mechanical arm and the first mechanical arm, a gap is formed between the second mechanical arm and the first mechanical arm, the second mechanical arm is fixedly connected with an intermediate shaft, and the intermediate shaft penetrates through the gap and is rotatably connected with the first mechanical arm; and the brushing mechanism is arranged in the gap and is fixedly connected with the first mechanical arm. The device is simple in structure, lubricating oil is added at the rotating joint of the first mechanical arm and the second mechanical arm in a proper amount in time by utilizing reciprocating operation of a mechanical arm action flow and matching a hydraulic principle, the lubricating oil is added without suspending the operation of the mechanical arm, and meanwhile, manual addition is not needed.

Description

Arm following lubricating device for mechanical arm
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to an arm following lubricating device for a mechanical arm.
Background
The mechanical arm is a common device on a factory production line, and when the mechanical arm is used smoothly for a long time, the movable connection position of the mechanical arm needs to be checked regularly and lubricating oil is added in time, so that the smooth rotation of the joint moving part is ensured, and the long service life can be ensured.
Lubricating oil is added to joints of the mechanical arm, the operation of the mechanical arm needs to be paused, then the lubricating oil can be added, the production line of the mechanical arm used in a factory generally operates for 24 hours all day, if the lubricating oil is paused to be added to the mechanical arm, the whole operation of the production line is affected, and therefore the arm-following lubricating device capable of adding the lubricating oil without pausing the mechanical arm is designed.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an arm following lubricating device for a mechanical arm.
The invention provides an arm following lubricating device for a mechanical arm, wherein the mechanical arm comprises a second mechanical arm, a first mechanical arm and a base, the second mechanical arm and the first mechanical arm are both arranged on the base, the arm following lubricating device is arranged at the position where the second mechanical arm and the first mechanical arm are rotatably connected, and the arm following lubricating device comprises:
the storage mechanism is fixedly arranged on the base and used for storing lubricating oil to be conveyed to the joint of the second mechanical arm and the first mechanical arm, a gap is formed between the second mechanical arm and the first mechanical arm, the second mechanical arm is fixedly connected with an intermediate shaft, and the intermediate shaft penetrates through the gap and is rotatably connected with the first mechanical arm;
the brushing mechanism is arranged in the gap and fixedly connected with the first mechanical arm, and is used for uniformly smearing lubricating oil on the joint of the second mechanical arm and the first mechanical arm;
the linkage mechanism is also arranged in the gap and is fixedly connected with the second mechanical arm, the linkage mechanism provides driving force for conveying lubricating oil to the painting mechanism, an output pipe for conveying the lubricating oil is connected between the linkage mechanism and the painting mechanism, and an input pipe for conveying the lubricating oil is connected between the linkage mechanism and the storage mechanism.
Further, the storage mechanism comprises a U-shaped pipe for temporarily storing lubricating oil and an oil tank for storing the lubricating oil for a long time, the input pipe is inserted into one end of the U-shaped pipe, the other end of the U-shaped pipe is communicated with a connecting pipe, the horizontal position of the connecting pipe is higher than that of the U-shaped pipe, the connecting pipe is communicated with the lower side wall of the oil tank, a driving mechanism is installed in the oil tank, and an air valve for ensuring the consistency of the internal air pressure and the external air pressure is arranged on the connecting.
Further, actuating mechanism includes cylinder, telescopic shaft and stripper plate, cylinder fixed mounting is in the top of oil tank, the telescopic shaft passes the upper wall of oil tank and the drive end fixed connection of cylinder, stripper plate slidable mounting in the oil tank and with telescopic shaft fixed connection.
Further, scribble brush mechanism includes annular frame and the annular brush of fixed connection on annular frame inner wall, annular brush contacts with the jackshaft, the material of annular brush is artificial fiber, annular brush is the fibre hair towards the inboard of jackshaft, a plurality of guiding grooves have evenly been seted up on the annular frame.
Further, the link gear includes inclosed hydraulic pressure chamber and open activity chamber relatively, separate through two spacers between activity chamber and the hydraulic pressure chamber, slidable mounting has the piston piece in the hydraulic pressure chamber, one side fixedly connected with of piston piece passes the arc axle of one of them spacer, the one end fixedly connected with fixed axle that the piston piece was kept away from to the arc axle, the fixed axle crosses the outer wall fixed connection of clearance and first mechanical arm, fixed mounting has the stopper that is used for restricting the piston piece position on the inner wall in hydraulic pressure chamber, input tube and output tube are inserted between stopper and the spacer that does not run through the arc axle, be provided with the first check valve that only allows lubricating oil to get into hydraulic pressure chamber in the input tube, be provided with the second check valve that only allows lubricating oil to go out from the hydraulic pressure intracavity in the output tube.
Furthermore, one end of the output pipe close to the annular outer frame is provided with an output head, the output head is connected with the annular outer frame in a sliding mode, and an opening of the output head faces the guide groove.
Compared with the prior art, the invention has the following advantages:
1. the device has a simple structure, lubricating oil is added at the rotating connection position of the first mechanical arm and the second mechanical arm in a proper amount at the right time by utilizing the reciprocating operation of the action flow of the mechanical arm and matching the hydraulic principle, and the lubricating oil is added without suspending the operation of the mechanical arm and manually adding;
2. lubricating oil is added to the rotating connection position of the first mechanical arm and the second mechanical arm, so that quantification and timing can be achieved, regular addition can be achieved, the mechanical arm can be maintained under the condition that a factory production line is not influenced, and safety and time saving are achieved.
Drawings
FIG. 1 is a schematic partial perspective view of a robot arm and an arm-following lubrication device;
FIG. 2 is a schematic perspective exploded view of the storage mechanism;
FIG. 3 is a schematic perspective view of a portion of the arm-dependent lubricating apparatus;
FIG. 4 is a schematic perspective view of the brushing mechanism;
fig. 5 is a schematic perspective view of the linkage mechanism.
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.
Referring to fig. 1-5, an arm following lubricating device for a mechanical arm, the mechanical arm includes a second mechanical arm 1, a first mechanical arm 2 and a base 5, the second mechanical arm 1 and the first mechanical arm 2 are both disposed on the base 5, the arm following lubricating device is disposed at a position where the second mechanical arm 1 and the first mechanical arm 2 are rotatably connected, and the arm following lubricating device includes:
the storage mechanism 4 is fixedly arranged on the base 5, the storage mechanism 4 is used for storing lubricating oil to be conveyed to the joint of the second mechanical arm 1 and the first mechanical arm 2, a gap is formed between the second mechanical arm 1 and the first mechanical arm 2, the second mechanical arm 1 is fixedly connected with an intermediate shaft 3, and the intermediate shaft 3 penetrates through the gap and is rotatably connected with the first mechanical arm 2;
the coating mechanism 9 is arranged in the gap and fixedly connected with the first mechanical arm 2, the coating mechanism 9 is used for uniformly coating lubricating oil at the joint of the second mechanical arm 1 and the first mechanical arm 2, and an input pipe 6 for conveying the lubricating oil is connected between the linkage mechanism 8 and the storage mechanism 4;
the linkage mechanism 8 is also arranged in the gap and is fixedly connected with the second mechanical arm 1, the linkage mechanism 8 provides driving force for conveying lubricating oil to the coating mechanism 9, and an output pipe 7 for conveying the lubricating oil is connected between the linkage mechanism 8 and the coating mechanism 9.
The storage mechanism 4 comprises a U-shaped pipe 406 for temporarily storing lubricating oil and an oil tank 401 for storing the lubricating oil for a long time, an input pipe 6 is inserted into one end of the U-shaped pipe 406, the other end of the U-shaped pipe 406 is communicated with a connecting pipe 405, the horizontal position of the connecting pipe 405 is higher than that of the U-shaped pipe 406, the connecting pipe 405 is communicated with the lower side wall of the oil tank 401, a driving mechanism is installed in the oil tank 401, and an air valve for ensuring the consistency of the internal air pressure and the external air pressure is arranged on the connecting pipe 405; the driving mechanism extrudes lubricating oil stored in the oil tank 401 into the U-shaped pipe 406, the U-shaped pipe 406 sinks downwards and is lower than the horizontal position of the connecting pipe 405, the driving mechanism performs primary extrusion operation, the lubricating oil can be pumped into the U-shaped pipe 406 through the connecting pipe 405, after the primary extrusion operation, a section of the connecting pipe 405 is hollow under the action of an air valve, and a part is temporarily stored in the U-shaped pipe 406 for use;
the driving mechanism comprises an air cylinder 404, a telescopic shaft 403 and a squeezing plate 402, the air cylinder 404 is fixedly arranged above the oil tank 401, the telescopic shaft 403 penetrates through the upper wall of the oil tank 401 and is fixedly connected with the driving end of the air cylinder 404, and the squeezing plate 402 is slidably arranged in the oil tank 401 and is fixedly connected with the telescopic shaft 403; when lubricating oil needs to be added into the U-shaped pipes 406, the air cylinder 404 presses the extrusion plate 402 towards the bottom through the telescopic shaft 403, the lubricating oil is extruded into the U-shaped pipes 406 through the connecting pipe 405, one end of the output pipe 7, which is close to the annular outer frame 901, is provided with an output head 701, the output head 701 is connected with the annular outer frame 901 in a sliding mode, and the opening of the output head 701 faces towards the guide groove; the delivery head 701 connects the delivery pipe 7 with the guide groove of the annular frame 901, so that the lubricant oil can be sufficiently introduced into the coating mechanism 9.
The brushing mechanism 9 comprises an annular outer frame 901 and an annular brush 902 fixedly connected to the inner wall of the annular outer frame 901, the annular brush 902 is in contact with the intermediate shaft 3, the annular brush 902 is made of artificial fiber, the inner side of the annular brush 902 facing the intermediate shaft 3 is made of fiber wool, and the annular outer frame 901 is uniformly provided with a plurality of guide grooves; when the lubricating oil is led to the brushing mechanism 9, the lubricating oil can drop onto the annular brush 902 along the guide groove of the annular outer frame 901, the intermediate shaft 3 and the first mechanical arm 2 rotate relative to each other, and the annular brush 902 which is full of the lubricating oil can paint the lubricating oil at the joint of the intermediate shaft 3 and the first mechanical arm 2 along with the rotation.
The linkage mechanism 8 comprises a relatively closed hydraulic cavity 803 and a relatively open movable cavity 802, the movable cavity 802 and the hydraulic cavity 803 are separated by two isolation sheets 806, a piston block 805 is slidably mounted in the hydraulic cavity 803, an arc shaft 807 penetrating through one of the isolation sheets 806 is fixedly connected to one side of the piston block 805, a fixed shaft 801 is fixedly connected to one end, far away from the piston block 805, of the arc shaft 807, the fixed shaft 801 is fixedly connected with the outer wall of the first mechanical arm 2 across a gap, a limiting block 804 for limiting the position of the piston block 805 is fixedly mounted on the inner wall of the hydraulic cavity 803, an input pipe 6 and an output pipe 7 are inserted between the limiting block 804 and the isolation sheet 806 which does not penetrate through the arc shaft 807, a first one-way valve only allowing lubricating oil to enter the hydraulic cavity 803 is arranged in the input pipe 6, and a second one-way valve only allowing lubricating oil to go out from the hydraulic cavity 803 is arranged in the output pipe 7; the rotation of the first mechanical arm 2 drives the piston block 805 to slide in the hydraulic cavity 803 through the fixed shaft 801 and the arc-shaped shaft 807, when the piston block 805 is pulled outwards, the second one-way valve is closed, the first one-way valve is opened, the lubricating oil enters the hydraulic cavity 803, the piston block 805 moves in the reverse direction, and the lubricating oil entering the hydraulic cavity 803 is conveyed to the painting mechanism 9 through the output pipe 7.
When the mechanical arm works, the second mechanical arm 1 and the first mechanical arm 2 rotate mutually, when lubricating oil needs to be added at the rotating connection position of the second mechanical arm 1 and the first mechanical arm 2, the lubricating oil in the oil tank 401 can be extruded into the U-shaped pipe 406 by the driving mechanism in the storage mechanism 4, and when the driving mechanism finishes one-time extrusion operation, one unit of lubricating oil is stored in the lower part of the U-shaped pipe 406;
when the mechanical arm is operated, the linkage mechanism 8 is driven to operate by the relative rotation between the second mechanical arm 1 and the first mechanical arm 2, when the first mechanical arm 2 rotates forwards relative to the second mechanical arm 1, the first mechanical arm 2 drives the fixed shaft 801 fixedly connected with the first mechanical arm 2 to move, when the fixed shaft 801 moves, the arc-shaped shaft 807 is driven to slide around the intermediate shaft 3, when the arc-shaped shaft 807 slides, the piston block 805 is driven to slide in the hydraulic cavity 803, wherein one end of the input pipe 6 is inserted into the lubricating oil at the bottom of the U-shaped pipe 406, one end of the input pipe 6 is sealed by the lubricating oil, when the piston block 805 slides in a direction away from the limit block 804 (the piston block 805 rotates anticlockwise as shown in fig. 5), one-way valves are arranged in the input pipe 6 and the output pipe 7, at this time, the input pipe 6 is opened, the output pipe 7 is closed, the air in the input pipe 6 is sucked into the hydraulic cavity 803, since the mechanical arm repeats the same motion process continuously, the first mechanical arm 2 will finally rotate reversely relative to the second mechanical arm 1, the piston block 805 will move towards the direction away from the limiting block 804 (as shown in fig. 5, the piston block 805 rotates clockwise), at this time, the input tube 6 is closed, the output tube 7 is opened, and the air in the hydraulic chamber 803 will be exhausted through the output tube 7;
the air retained in the input pipe 6 is firstly discharged by the reciprocating operation of the piston block 805 until the lubricating oil is pumped into the hydraulic cavity 803 under the action of hydraulic pressure, then the lubricating oil in the hydraulic cavity 803 is pumped out through the output pipe 7 under the action of the piston block 805, the lubricating oil entering the output pipe 7 is contacted with the painting mechanism 9 through the output head 701, the lubricating oil is attached to the painting mechanism 9 by the surface tension of the lubricating oil and permeates into the annular brush 902 along the guide groove, the first mechanical arm 2 continuously rotates relative to the second mechanical arm 1, the intermediate shaft 3 rotates along with the second mechanical arm 1 relative to the first mechanical arm 2, the output head 701 rubs with the outer surface of the annular outer frame 901 during the rotation, finally the lubricating oil gradually spreads to the whole annular brush 902, the annular brush 902 rotates along with the first mechanical arm 2 relative to the second mechanical arm 1, lubricating oil can be smeared on the rotary connection between the intermediate shaft 3 and the first mechanical arm 2 and spreads to a rotatably connected gap along with the rotation of the first mechanical arm 2 relative to the second mechanical arm 1, so that the effect of automatically adding the lubricating oil is realized;
with the operation of the linkage mechanism 8, the lubricating oil temporarily stored in the U-shaped pipe 406 is gradually consumed, then the addition of one unit of lubricating oil is completed at the joint of the second mechanical arm 1 and the first mechanical arm 2, when no lubricating oil exists in the U-shaped pipe 406, the air is sprayed from the output head 701 to the annular outer frame 901, and the problem of excessive lubricating oil addition does not exist, the addition of the next unit of lubricating oil only needs to start the driving mechanism, the air cylinder 404 presses the extrusion plate 402 through the telescopic shaft 403, a proper amount of lubricating oil is extruded from the oil tank 401 into the U-shaped pipe 406, the addition of the lubricating oil in the oil tank 401 can be performed by an external oil pump, and only the addition of the sum frequency of the lubricating oil needs to be performed according to the operation flow and the reasonable design of the amplitude of the mechanical arms.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (6)

1. The utility model provides a along with arm lubricating arrangement for robotic arm, its characterized in that, robotic arm includes second arm (1), first arm (2) and base (5), second arm (1) and first arm (2) all set up on base (5), along with arm lubricating arrangement setting at second arm (1) and first arm (2) position of rotating the connection, along with arm lubricating arrangement includes:
the lubricating oil storage device comprises a storage mechanism (4) fixedly mounted on a base (5), wherein the storage mechanism (4) is used for storing lubricating oil to be conveyed to the joint of a second mechanical arm (1) and a first mechanical arm (2), a gap is formed between the second mechanical arm (1) and the first mechanical arm (2), an intermediate shaft (3) is fixedly connected to the second mechanical arm (1), and the intermediate shaft (3) penetrates through the gap and is rotatably connected with the first mechanical arm (2);
the smearing mechanism (9), the smearing mechanism (9) is arranged in the gap and fixedly connected with the first mechanical arm (2), and the smearing mechanism (9) is used for smearing lubricating oil on the connecting part of the second mechanical arm (1) and the first mechanical arm (2) uniformly;
the linkage mechanism (8), the linkage mechanism (8) also set up in the clearance and with second arm (1) fixed connection, the linkage mechanism (8) provide to scribble the drive power that the mechanism (9) carried lubricating oil of brushing, be connected with between linkage mechanism (8) and the mechanism (9) of scribbling and transport output tube (7) of lubricating oil, be connected with between linkage mechanism (8) and the storage mechanism (4) and transport input tube (6) of lubricating oil.
2. The arm-following lubricating device for the mechanical arm according to claim 1, characterized in that the storage mechanism (4) comprises a U-shaped pipe (406) for temporarily storing lubricating oil and a tank (401) for storing lubricating oil for a long time, the input pipe (6) is inserted into one end of the U-shaped pipe (406), the other end of the U-shaped pipe (406) is communicated with a connecting pipe (405), the horizontal position of the connecting pipe (405) is higher than that of the U-shaped pipe (406), the connecting pipe (405) is communicated with the lower side wall of the tank (401), a driving mechanism is installed in the tank (401), and an air valve for ensuring the consistent air pressure inside and outside is arranged on the connecting pipe (405).
3. An arm following lubrication device for a mechanical arm according to claim 2, wherein the driving mechanism comprises a cylinder (404), a telescopic shaft (403) and a squeeze plate (402), the cylinder (404) is fixedly installed above the oil tank (401), the telescopic shaft (403) penetrates through the upper wall of the oil tank (401) and is fixedly connected with the driving end of the cylinder (404), and the squeeze plate (402) is slidably installed in the oil tank (401) and is fixedly connected with the telescopic shaft (403).
4. The arm-following lubricating device for the mechanical arm according to claim 1, wherein the brushing mechanism (9) comprises an annular outer frame (901) and an annular brush (902) fixedly connected to the inner wall of the annular outer frame (901), the annular brush (902) is in contact with the intermediate shaft (3), the annular brush (902) is made of artificial fiber, the inner side of the annular brush (902) facing the intermediate shaft (3) is made of fiber wool, and a plurality of guide grooves are uniformly formed in the annular outer frame (901).
5. The arm following lubricating device for the mechanical arm according to claim 1, wherein the linkage mechanism (8) comprises a relatively closed hydraulic cavity (803) and a relatively open movable cavity (802), the movable cavity (802) and the hydraulic cavity (803) are separated by two separating sheets (806), a piston block (805) is slidably mounted in the hydraulic cavity (803), one side of the piston block (805) is fixedly connected with an arc-shaped shaft (807) penetrating through one separating sheet (806), one end of the arc-shaped shaft (807) far away from the piston block (805) is fixedly connected with a fixed shaft (801), the fixed shaft (801) is fixedly connected with the outer wall of the first mechanical arm (2) through a gap, a limiting block (804) used for limiting the position of the piston block (805) is fixedly mounted on the inner wall of the hydraulic cavity (803), and the input pipe (6) and the output pipe (7) are inserted in the limiting block (804) and the separating sheet which does not penetrate through the arc-shaped shaft (807) Between the sheets (806), a first one-way valve which only allows lubricating oil to enter the hydraulic cavity (803) is arranged in the input pipe (6), and a second one-way valve which only allows lubricating oil to go out of the hydraulic cavity (803) is arranged in the output pipe (7).
6. An arm-following lubrication device for a robot arm according to claim 4, wherein an output head (701) is arranged at one end of the output pipe (7) close to the annular outer frame (901), the output head (701) is slidably connected with the annular outer frame (901), and an opening of the output head (701) faces the guide groove.
CN202110816646.7A 2021-07-20 2021-07-20 Arm following lubricating device for mechanical arm Active CN113276168B (en)

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Application Number Priority Date Filing Date Title
CN202110816646.7A CN113276168B (en) 2021-07-20 2021-07-20 Arm following lubricating device for mechanical arm

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Application Number Priority Date Filing Date Title
CN202110816646.7A CN113276168B (en) 2021-07-20 2021-07-20 Arm following lubricating device for mechanical arm

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CN113276168A true CN113276168A (en) 2021-08-20
CN113276168B CN113276168B (en) 2021-09-24

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113733162A (en) * 2021-10-09 2021-12-03 江苏铁锚玻璃股份有限公司 High-precision manipulator in room-heating environment
CN116423484A (en) * 2023-06-12 2023-07-14 佛山隆深机器人有限公司 Multi-axis positioning mechanical arm and robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010000587A (en) * 2008-06-23 2010-01-07 Nsk Ltd Joint section for manipulator
CN207421737U (en) * 2017-10-13 2018-05-29 焦作市超利洁环保科技有限公司 A kind of mechanical arm rotational structure oil supply mechanism
CN208246120U (en) * 2018-03-26 2018-12-18 广州联万信息科技有限公司 A kind of novel welding machine people for automobile production
CN110125582A (en) * 2019-04-18 2019-08-16 唐山合立普智能装备有限公司 A kind of automatic welding machinery arm
CN111791268A (en) * 2020-07-20 2020-10-20 袁高宇 Joint lubricating arrangement is used in arm production
CN212421356U (en) * 2020-05-09 2021-01-29 南京师范大学 Linkage device convenient to lubricate mechanical arm

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010000587A (en) * 2008-06-23 2010-01-07 Nsk Ltd Joint section for manipulator
CN207421737U (en) * 2017-10-13 2018-05-29 焦作市超利洁环保科技有限公司 A kind of mechanical arm rotational structure oil supply mechanism
CN208246120U (en) * 2018-03-26 2018-12-18 广州联万信息科技有限公司 A kind of novel welding machine people for automobile production
CN110125582A (en) * 2019-04-18 2019-08-16 唐山合立普智能装备有限公司 A kind of automatic welding machinery arm
CN212421356U (en) * 2020-05-09 2021-01-29 南京师范大学 Linkage device convenient to lubricate mechanical arm
CN111791268A (en) * 2020-07-20 2020-10-20 袁高宇 Joint lubricating arrangement is used in arm production

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113733162A (en) * 2021-10-09 2021-12-03 江苏铁锚玻璃股份有限公司 High-precision manipulator in room-heating environment
CN113733162B (en) * 2021-10-09 2022-09-16 江苏铁锚玻璃股份有限公司 High-precision manipulator in room-heating environment
CN116423484A (en) * 2023-06-12 2023-07-14 佛山隆深机器人有限公司 Multi-axis positioning mechanical arm and robot
CN116423484B (en) * 2023-06-12 2023-08-04 佛山隆深机器人有限公司 Multi-axis positioning mechanical arm and robot

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