CN113478472A - Industrial mechanical arm - Google Patents
Industrial mechanical arm Download PDFInfo
- Publication number
- CN113478472A CN113478472A CN202110870221.4A CN202110870221A CN113478472A CN 113478472 A CN113478472 A CN 113478472A CN 202110870221 A CN202110870221 A CN 202110870221A CN 113478472 A CN113478472 A CN 113478472A
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- block
- sliding
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- rack
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000000670 limiting effect Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 12
- 230000009471 action Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms. The industrial mechanical arm comprises a base and two clamping blocks, wherein a box body is arranged on the base, an opening is formed in the bottom of the box body, and two sliding blocks are transversely connected to the opening in a sliding mode; a cavity is arranged in the sliding block, and a side hole communicated with the cavity is arranged on the side wall of the sliding block; a rotating shaft is rotatably connected in the cavity, the clamping block is sleeved on the rotating shaft, and the free end of the clamping block is in sliding fit with the side hole; the sliding block is driven to slide by the driving mechanism and the rotating shaft is driven to rotate by the adjusting mechanism. The not good problem of present mechanical arm to the article centre gripping effect of surfacing has mainly been solved to this scheme.
Description
Technical Field
The invention relates to the technical field of mechanical arms.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling; because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
At present, a mechanical arm used in industry is mainly used for clamping an object, specifically, a free end of the mechanical arm extends out of a bent clamping block, and clamping of the object is realized through the abutting of at least two clamping blocks and the object; in the actual operation process, the contact surface of grip block and article is the point contact, uses the grip block to better the article centre gripping effect to the article of surperficial unevenness, nevertheless skids when using the grip block centre gripping to the article of surfacing easily, leads to the article to drop the damage.
Disclosure of Invention
The invention aims to provide an industrial mechanical arm to solve the problem that the clamping effect of the conventional mechanical arm on an object with a flat surface is poor.
In order to achieve the above object, the basic scheme of the invention is as follows: the industrial mechanical arm comprises a base and two clamping blocks, wherein a box body is arranged on the base, an opening is formed in the bottom of the box body, and two sliding blocks are transversely connected to the opening in a sliding mode; a cavity is arranged in the sliding block, and a side hole communicated with the cavity is formed in the side wall of the sliding block; a rotating shaft is rotatably connected in the cavity, the clamping block is sleeved on the rotating shaft, and the free end of the clamping block is in sliding fit with the side hole; the sliding block is driven to slide by the driving mechanism and the rotating shaft is driven to rotate by the adjusting mechanism.
The advantages of the basic scheme are:
1. the scheme aims at the objects with uneven surfaces; the two sliding blocks are driven by the driving mechanism to move in opposite directions, so that the two clamping blocks move in opposite directions, the clamping of the object is realized through the propping of the clamping blocks and the surface of the object, and then the object is transferred to a destination.
2. The scheme aims at the object with a smooth surface; the rotating shaft is driven to rotate through the adjusting mechanism, the rotating shaft drives the clamping block to rotate in the side hole, so that the free end of the clamping block rotates to be right below the sliding block, namely the free end of the clamping block rotates through the contact surface of the sliding block and the object, and the free end of the clamping block is not in contact with the surface of the object when the sliding block is in contact with the surface of the object; then, the driving mechanism is utilized to drive the two sliding blocks to move oppositely, the sliding blocks are abutted against the surface of the object to clamp the object, and then the object is transferred to a destination; compared with the prior art, the clamping block is replaced by the sliding block to be in contact with the surface of the object, the contact area with the object is increased, the clamping effect on the object is further enhanced, the stability of clamping the object is improved, and the object is effectively prevented from being damaged due to falling.
Further, actuating mechanism includes the first motor of rigid coupling middle part in the box and rotates the round axle of connecting in the box both sides, be equipped with initiative bevel gear on the output shaft of first motor, the free end rigid coupling of round axle has the threaded rod, and the free end rigid coupling of threaded rod has the driven bevel gear with initiative bevel gear meshing, threaded connection has the nut seat on the threaded rod, and nut seat and slider rigid coupling.
Through the arrangement, the output shaft of the first motor drives the driving bevel gear to rotate, the driving bevel gear is meshed with the driven bevel gear to drive the threaded rod and the circular shaft to rotate, and the nut seats move along the horizontal direction under the limiting action of the sliding blocks, so that the two nut seats drive the clamping blocks to move oppositely through the sliding blocks, and the clamping blocks are abutted to the surfaces of the articles.
Furthermore, the adjusting mechanism comprises a second motor fixedly connected in the cavity and a linkage shaft fixedly connected with an output shaft of the second motor, and a belt is sleeved between the linkage shaft and the rotating shaft.
Through the arrangement, the output shaft of the second motor drives the linkage shaft to rotate, the linkage shaft drives the rotating shaft to rotate through the belt, and the rotating shaft drives the clamping block to rotate, so that the clamping block rotates downwards.
Further, a vertical groove is formed in the inner wall of the side hole, a vertical block which is abutted against the clamping block is connected in the vertical groove in a sliding mode, a first spring is arranged between the vertical block and the vertical groove, and a plurality of first transverse holes are formed in the vertical block at equal intervals; a plurality of second transverse holes communicated with the vertical grooves and the cavity are equidistantly arranged on the sliding block, and the second transverse holes and the first transverse holes are arranged in a staggered manner; the inner wall of the chamber is communicated with a cover body covering the second transverse holes; the mask also comprises a negative pressure mechanism which generates negative pressure to the mask body.
Through the arrangement, the linkage shaft drives the rotating shaft to rotate through the belt, and the rotating shaft drives the clamping block to rotate, so that the clamping block rotates downwards; after the clamping block rotates downwards, the blocking effect of the clamping block on the vertical block disappears, so that the vertical block moves downwards under the action of the first spring, and the first transverse hole is communicated with the second transverse hole; utilize negative pressure mechanism to produce the negative pressure to the cover body, rethread first horizontal hole and second horizontal hole let the slider with the surface of article inhale together, have effectively strengthened the centre gripping effect to the article, have improved the stability of article centre gripping.
In addition, in the initial state, the second transverse holes and the first transverse holes are arranged in a staggered mode, and dust can be prevented from entering the cavity.
Further, the negative pressure mechanism comprises a piston cylinder fixedly connected in the cavity and a first rack meshed with the gear, the piston cylinder is communicated with the cover body, and a piston block is connected in the piston cylinder in a sliding manner; the first rack slides on the inner wall of the chamber, a side block is arranged on the side wall of the first rack, and one end, far away from the piston cylinder, of the piston block is located on the motion track of the side block.
Through the arrangement, the linkage shaft drives the rotating shaft to rotate through the belt, and the rotating shaft drives the clamping block to rotate, so that the clamping block rotates downwards; the linkage shaft can drive the gear to rotate, and the gear is meshed with the first rack, so that the first rack moves downwards; the first rack extrudes the piston block to move downwards, so that negative pressure is generated in the piston cylinder, and the sliding block and the surface of the object are sucked together through the cover body, the first transverse hole and the second transverse hole.
Furthermore, a stop groove communicated with the vertical groove is transversely formed in the inner wall of the chamber, a first wedge block abutting against the vertical block is connected in the stop groove in a sliding mode, and a second spring is arranged between the first wedge block and the inner wall of the chamber; the side wall of the vertical block is provided with an auxiliary groove which is used for being communicated with the stop groove; and the free end of the side block is provided with a second wedge block, and the first wedge block is positioned on the motion trail of the second wedge block.
Through the arrangement, during the rotation of the linkage shaft, the rotating shaft drives the clamping block to rotate, the blocking effect of the clamping block on the vertical block disappears, so that the vertical block moves downwards under the effect of the first spring, the first transverse hole is communicated with the second transverse hole, and the auxiliary groove is communicated with the stop groove; the universal driving shaft continues to rotate, the first rack drives the second wedge block to extrude the first wedge block to extend into the auxiliary groove through the side block, the second spring is compressed, locking of the vertical block is achieved, vertical reciprocating motion of the vertical block under the action of the first spring is avoided, the first transverse hole and the second transverse hole are guaranteed to be communicated with each other all the time, the first transverse hole and the second transverse hole are completely overlapped, the best negative pressure effect is guaranteed, and the clamping effect on the object is strengthened.
Further, be equipped with first magnet on the inner wall of side opening, be equipped with the second magnet of attracting mutually with first magnet on the grip block.
Through the arrangement, when the object with the uneven surface is clamped, the first magnet and the second magnet are abutted, so that the limiting effect on the object can be achieved, and the stability of the two clamping blocks for clamping the object is improved.
Furthermore, a second rack meshed with the gear is connected to the sliding block in a sliding mode, the moving direction of the second rack is opposite to that of the first rack, and a limiting groove is formed in the side wall of the second rack; and the side wall of the clamping block is provided with an arc-shaped block which is used for being clamped with the limiting groove.
Through the arrangement, the linkage shaft drives the gear to rotate, and the gear is meshed with the first rack and the second rack, and the movement directions of the first rack and the second rack are opposite, so that the first rack moves downwards, and the second rack moves upwards.
The linkage shaft continues to rotate, so that the rotating shaft drives the clamping block to continue to rotate, and the clamping block drives the arc-shaped block to be clamped with the limiting groove; therefore, can play the supporting role to the grip block through the arc piece, improve the stability of structure.
Drawings
FIG. 1 is a sectional view in a front view of an industrial robot according to an embodiment of the present invention;
fig. 2 is a partial sectional view of the right slider in fig. 1 in a front view.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a base 1, a clamping block 2, a box body 3, an opening 4, a sliding block 5, a chamber 6, a side hole 7, a first motor 8, a driving bevel gear 9, a round shaft 10, a threaded rod 11, a driven bevel gear 12, a nut seat 13, a linkage shaft 14, a belt 15, a vertical block 16, a first spring 17, a first transverse hole 18, a second transverse hole 19, a cover body 20, a piston cylinder 21, a first rack 22, a piston block 23, a side block 24, a first wedge block 25, a second spring 26, an auxiliary groove 27, a second wedge block 28, a first magnet 29, a second rack 30, a limiting groove 31 and an arc-shaped block 32.
Examples
Substantially as shown in figures 1 and 2: the industrial mechanical arm comprises a base and two clamping blocks, wherein in the embodiment, the base 1 is fixedly connected to a common transport vehicle; a box body 3 is fixedly connected to the base 1, an opening 4 is formed in the bottom of the box body 3, the opening 4 is transversely arranged, and two sliding blocks 5 are transversely connected to the opening 4 in a sliding mode; a cavity 6 is arranged in the slide block 5, and a side hole 7 communicated with the cavity 6 is arranged on the side wall of the slide block 5; a rotating shaft is rotatably connected in the cavity 6, the clamping block 2 is sleeved on the rotating shaft, and the free end of the clamping block 2 is in sliding fit with the side hole 7, namely when the rotating shaft drives the clamping block 2 to rotate, the clamping block 2 can slide in the side hole 7; the device also comprises a driving mechanism for driving the sliding block 5 to slide and an adjusting mechanism for driving the rotating shaft to rotate.
The driving mechanism comprises a first motor 8 fixedly connected to the middle part in the box body 3 and a circular shaft 10 rotatably connected to two sides in the box body 3, and in the embodiment, the first motor 8 is a servo motor; a driving bevel gear 9 is fixedly connected to an output shaft of the first motor 8, a threaded rod 11 is fixedly connected to a free end of the round shaft 10, a driven bevel gear 12 meshed with the driving bevel gear 9 is fixedly connected to a free end of the threaded rod 11, a nut seat 13 is connected to the threaded rod 11 in a threaded mode, and the bottom of the nut seat 13 is fixedly connected with the sliding block 5; the top of the nut seat 13 is fixedly connected with a support rod, and the support rod is connected with the top of the cavity 6 in a transverse sliding mode.
The adjusting mechanism comprises a second motor fixedly connected in the cavity 6 and a linkage shaft 14 fixedly connected with an output shaft of the second motor, in the embodiment, the second motor is a servo motor, and a belt 15 is sleeved between the linkage shaft 14 and the rotating shaft. A vertical groove is formed in the inner wall of the side hole 7, a vertical block 16 which is abutted against the clamping block 2 is connected in the vertical groove in a sliding mode, a first spring 17 is fixedly connected between the vertical block 16 and the vertical groove, and a plurality of first transverse holes 18 are formed in the vertical block 16 at equal intervals; a plurality of second transverse holes 19 communicated with the vertical grooves and the chamber 6 are formed in the sliding block 5 at equal intervals, the second transverse holes 19 and the first transverse holes 18 are arranged in a staggered mode, and the second transverse holes 19 are located on the motion trail of the first transverse holes 18; the inner wall of the chamber 6 is communicated with a cover body 20 which covers a plurality of second transverse holes 19; the negative pressure mechanism generates negative pressure to the cover body 20, the negative pressure mechanism comprises a piston cylinder 21 fixedly connected in the cavity 6 and a first rack 22 meshed with the gear, the piston cylinder 21 is communicated with the cover body 20, and a piston block 23 is connected in the piston cylinder 21 in a sliding manner; the first rack 22 slides on the inner wall of the chamber 6, a side block 24 is fixedly connected to the side wall of the first rack 22, and one end of the piston block 23 far away from the piston cylinder 21 is located on the motion track of the side block 24.
A stop groove communicated with the vertical groove is transversely formed in the inner wall of the chamber 6, a first wedge block 25 abutting against the vertical block 16 is connected in the stop groove in a sliding mode, and a second spring 26 is fixedly connected between the first wedge block 25 and the inner wall of the chamber 6; the side wall of the vertical block 16 is provided with an auxiliary groove 27 used for being communicated with the stop groove; the free end of the side block 24 is fixedly connected with a second wedge block 28, and the first wedge block 25 is positioned on the motion trail of the second wedge block 28.
A second rack 30 engaged with the gear is connected on the sliding block 5 in a sliding manner, the moving direction of the second rack 30 is opposite to that of the first rack 22, and a limit groove 31 is formed on the side wall of the second rack 30; an arc block 32 used for being clamped with the limiting groove 31 is fixedly connected to the side wall of the clamping block 2, and the arc block 32 and the second magnet are arranged on different sides.
The specific implementation process is as follows:
aiming at an object with an uneven surface; starting a first motor 8, driving a driving bevel gear 9 to rotate by an output shaft of the first motor 8, driving a threaded rod 11 and a round shaft 10 to rotate by the meshing of the driving bevel gear 9 and a driven bevel gear 12, and moving a nut seat 13 in the horizontal direction under the limiting action of a support rod and a slide block 5, so that two nut seats 13 drive a clamping block 2 to move oppositely through the slide block 5, the clamping block 2 is abutted against the surface of an object, and the first motor 8 stops rotating at the moment; therefore, the object is clamped by the two clamping blocks 2 against the object, and then the object is transferred to the destination.
Aiming at an object with a flat surface; starting a second motor, wherein an output shaft of the second motor drives a linkage shaft 14 to rotate, the linkage shaft 14 drives a rotating shaft to rotate through a belt 15, and the rotating shaft drives a clamping block 2 to rotate, so that the clamping block 2 rotates downwards; after the clamping block 2 rotates downwards, the blocking effect of the clamping block 2 on the vertical block 16 disappears, so that the vertical block 16 moves downwards under the action of the first spring 17 and the first transverse hole 18 is communicated with the second transverse hole 19; when the free end of the clamping block 2 rotates to a position right below the sliding block 5, namely when the free end of the clamping block 2 rotates over the contact surface of the sliding block 5 and the object, the free end of the clamping block 2 is not in contact with the surface of the object when the sliding block 5 is in contact with the surface of the object, and the second motor stops rotating.
Starting the first motor 8, driving the driving bevel gear 9 to rotate by an output shaft of the first motor 8, driving the threaded rod 11 and the circular shaft 10 to rotate by the meshing of the driving bevel gear 9 and the driven bevel gear 12, and moving the nut seats 13 in the horizontal direction under the limiting action of the support rod and the slide block 5, so that the two nut seats 13 drive the slide block 5 to move oppositely, the slide block 5 is abutted against the surface of an object, and at the moment, the first motor 8 stops rotating; thus, the clamping of the object is achieved by the abutment of the two sliders 5 with the object.
Starting the second motor again, wherein an output shaft of the second motor drives the linkage shaft 14 to continue to rotate in the same direction, the linkage shaft 14 drives the rotating shaft to rotate through the belt 15, and the rotating shaft drives the clamping block 2 to rotate, so that the clamping block 2 rotates downwards; and, the linkage shaft 14 can also drive the gear to rotate, because the gear is meshed with the first rack 22 and the second rack 30, and the moving directions of the first rack 22 and the second rack 30 are opposite, the first rack 22 moves downwards, and the second rack 30 moves upwards.
The linkage shaft 14 continues to rotate, so that the rotating shaft drives the clamping block 2 to continue to rotate, and when the clamping block 2 drives the arc-shaped block 32 to be clamped with the limiting groove 31, the second motor is turned off; therefore, the arc-shaped blocks 32 can support the clamping blocks 2, and the structural stability is improved; during the rotation of the linkage shaft 14, the rotating shaft drives the clamping block 2 to rotate, the blocking effect of the clamping block 2 on the vertical block 16 disappears, so that the vertical block 16 moves downwards under the action of the first spring 17, the first transverse hole 18 is communicated with the second transverse hole 19, and the auxiliary groove 27 is communicated with the stopping groove; the linkage shaft 14 continues to rotate, the first rack 22 drives the second wedge 28 to extrude the first wedge 25 to extend into the auxiliary groove 27 through the side block 24, the second spring 26 is compressed, so that the vertical block 16 is stopped, and the vertical block 16 is prevented from vertically reciprocating under the action of the first spring 17, that is, the first transverse hole 18 and the second transverse hole 19 are always communicated, and the first transverse hole 18 and the second transverse hole 19 are completely overlapped, so that the optimal negative pressure effect in the later period is ensured, that is, the clamping effect on the object is enhanced; the linkage shaft 14 continues to rotate, when the arc-shaped block 32 is clamped with the limiting groove 31, the first rack 22 extrudes the piston block 23 to move downwards, so that negative pressure is generated in the piston cylinder 21, the sliding block 5 is absorbed with the surface of the object through the cover body 20, the first transverse hole 18 and the second transverse hole 19, the clamping effect on the object is effectively enhanced, and the clamping stability on the object is improved; after the object is clamped, the object is transferred to the destination.
In this embodiment, the inner wall of the side hole 7 is fixedly connected with a first magnet 29, and the side wall of the clamping block 2 is fixedly connected with a second magnet attracted with the first magnet 29; when the object with uneven surface is clamped, the first magnet 29 and the second magnet are abutted, so that the object can be limited, and the stability of the two clamping blocks 2 for clamping the object is improved.
The foregoing is merely an example of the present invention and common general knowledge in the art of specific structures and/or features of the invention has not been set forth herein in any way. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. Industry arm, including frame and two grip blocks, its characterized in that: the machine base is provided with a box body, the bottom of the box body is provided with an opening, and the opening is transversely and slidably connected with two sliding blocks; a cavity is arranged in the sliding block, and a side hole communicated with the cavity is formed in the side wall of the sliding block; a rotating shaft is rotatably connected in the cavity, the clamping block is sleeved on the rotating shaft, and the free end of the clamping block is in sliding fit with the side hole; the sliding block is driven to slide by the driving mechanism and the rotating shaft is driven to rotate by the adjusting mechanism.
2. The industrial robot of claim 1, wherein: the driving mechanism comprises a first motor fixedly connected to the middle part in the box body and a round shaft rotatably connected to two sides in the box body, a driving bevel gear is arranged on an output shaft of the first motor, a threaded rod is fixedly connected to the free end of the round shaft, a driven bevel gear meshed with the driving bevel gear is fixedly connected to the free end of the threaded rod, a nut seat is connected to the threaded rod in a threaded mode, and the nut seat is fixedly connected with a sliding block.
3. The industrial robot of claim 2, wherein: the adjusting mechanism comprises a second motor fixedly connected in the cavity and a linkage shaft fixedly connected with an output shaft of the second motor, and a belt is sleeved between the linkage shaft and the rotating shaft.
4. The industrial robot of claim 3, wherein: a vertical groove is formed in the inner wall of the side hole, a vertical block which is abutted against the clamping block is connected in the vertical groove in a sliding mode, a first spring is arranged between the vertical block and the vertical groove, and a plurality of first transverse holes are formed in the vertical block at equal intervals; a plurality of second transverse holes communicated with the vertical grooves and the cavity are equidistantly arranged on the sliding block, and the second transverse holes and the first transverse holes are arranged in a staggered manner; the inner wall of the chamber is communicated with a cover body covering the second transverse holes; the mask also comprises a negative pressure mechanism which generates negative pressure to the mask body.
5. The industrial robot of claim 4, wherein: the negative pressure mechanism comprises a piston cylinder fixedly connected in the cavity and a first rack meshed with the gear, the piston cylinder is communicated with the cover body, and a piston block is connected in the piston cylinder in a sliding manner; the first rack slides on the inner wall of the chamber, a side block is arranged on the side wall of the first rack, and one end, far away from the piston cylinder, of the piston block is located on the motion track of the side block.
6. The industrial robot of claim 5, wherein: a stop groove communicated with the vertical groove is transversely formed in the inner wall of the cavity, a first wedge block abutting against the vertical block is connected in the stop groove in a sliding mode, and a second spring is arranged between the first wedge block and the inner wall of the cavity; the side wall of the vertical block is provided with an auxiliary groove which is used for being communicated with the stop groove; and the free end of the side block is provided with a second wedge block, and the first wedge block is positioned on the motion trail of the second wedge block.
7. The industrial robot of claim 6, wherein: be equipped with first magnet on the inner wall of side opening, be equipped with the second magnet that attracts mutually with first magnet on the grip block.
8. The industrial robot of claim 7, wherein: a second rack meshed with the gear is connected to the sliding block in a sliding mode, the moving direction of the second rack is opposite to that of the first rack, and a limiting groove is formed in the side wall of the second rack; and the side wall of the clamping block is provided with an arc-shaped block which is used for being clamped with the limiting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110870221.4A CN113478472B (en) | 2021-07-30 | 2021-07-30 | Industrial mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110870221.4A CN113478472B (en) | 2021-07-30 | 2021-07-30 | Industrial mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113478472A true CN113478472A (en) | 2021-10-08 |
| CN113478472B CN113478472B (en) | 2022-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110870221.4A Active CN113478472B (en) | 2021-07-30 | 2021-07-30 | Industrial mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN113478472B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942380A (en) * | 2021-11-30 | 2022-01-18 | 重庆凯斯瑞机电设备有限公司 | High-strength engine rear support |
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| EP2866981A2 (en) * | 2012-06-29 | 2015-05-06 | Toyota Jidosha Kabushiki Kaisha | Grasping method by grasping apparatus |
| CN208182215U (en) * | 2018-03-16 | 2018-12-04 | 连云港江南精工机械有限公司 | A kind of industrial chamber robot for carrying and piling |
| CN109397279A (en) * | 2018-11-11 | 2019-03-01 | 东莞理工学院 | A kind of robot clamp adjusting direction with automatic row's object |
| CN209919883U (en) * | 2019-05-21 | 2020-01-10 | 安徽蓝瑟智能科技有限公司 | Multifunctional vision carrying manipulator |
| CN212265868U (en) * | 2020-05-14 | 2021-01-01 | 南京卡夫瑞自动化科技有限公司 | Novel automatic production line arm device |
| CN112171696A (en) * | 2020-05-22 | 2021-01-05 | 重庆工业职业技术学院 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
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2021
- 2021-07-30 CN CN202110870221.4A patent/CN113478472B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2866981A2 (en) * | 2012-06-29 | 2015-05-06 | Toyota Jidosha Kabushiki Kaisha | Grasping method by grasping apparatus |
| CN208182215U (en) * | 2018-03-16 | 2018-12-04 | 连云港江南精工机械有限公司 | A kind of industrial chamber robot for carrying and piling |
| CN109397279A (en) * | 2018-11-11 | 2019-03-01 | 东莞理工学院 | A kind of robot clamp adjusting direction with automatic row's object |
| CN209919883U (en) * | 2019-05-21 | 2020-01-10 | 安徽蓝瑟智能科技有限公司 | Multifunctional vision carrying manipulator |
| CN212265868U (en) * | 2020-05-14 | 2021-01-01 | 南京卡夫瑞自动化科技有限公司 | Novel automatic production line arm device |
| CN112171696A (en) * | 2020-05-22 | 2021-01-05 | 重庆工业职业技术学院 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942380A (en) * | 2021-11-30 | 2022-01-18 | 重庆凯斯瑞机电设备有限公司 | High-strength engine rear support |
| CN113942380B (en) * | 2021-11-30 | 2024-04-30 | 重庆凯斯瑞机电设备有限公司 | High-strength engine rear bracket |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113478472B (en) | 2022-09-02 |
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