CN113843784A - Multi-gripper six-axis robot - Google Patents
Multi-gripper six-axis robot Download PDFInfo
- Publication number
- CN113843784A CN113843784A CN202111281063.5A CN202111281063A CN113843784A CN 113843784 A CN113843784 A CN 113843784A CN 202111281063 A CN202111281063 A CN 202111281063A CN 113843784 A CN113843784 A CN 113843784A
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- gripper
- driving
- groove
- wall
- axis robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-gripper six-axis robot, which comprises a six-axis robot main body, wherein the movable tail end of the six-axis robot main body is connected with a mounting groove; the inner wall of the mounting groove is provided with a driving structure, the driving structure is connected with a turntable and used for driving the turntable to rotate, the driving structure is also connected with a limiting structure, and the limiting structure is used for controlling the rotating position of the turntable; the turntable is provided with a double-end gripper and a flexible gripper, and the double-end gripper and the flexible gripper are distributed towards two sides by the axis of the turntable. The invention can conveniently replace different grippers, and the double-head gripper and the flexible gripper have strong stability for gripping articles.
Description
Technical Field
The invention relates to the technical field of six-axis robots, in particular to a multi-gripper six-axis robot.
Background
Six-axis robots generally include six degrees of freedom, which are respectively rotation (s axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis), and wrist rotation (T axis), and each degree of freedom is generally driven by a servo motor. According to the distribution of degrees of freedom, a six-axis robot generally comprises a base, a lower arm, an upper arm, a rotating arm, a wrist arm and an operating head, wherein the operating head can be connected with various clamps according to actual requirements.
Among the prior art, six robots snatch different materials when practical tongs and need change different tongs, and the operation is very loaded down with trivial details, and when using flexible tongs, snatch unstably easily moreover, article drop easily, and after changing the tongs, the position of tongs needs readjustment moreover, increases work burden, for this reason, we propose six robots of many tongs to solve above-mentioned problem.
Disclosure of Invention
The invention aims to solve the problem that a gripper in the prior art is inconvenient to use, and provides a multi-gripper six-axis robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the multi-gripper six-axis robot comprises a six-axis robot main body, wherein the movable tail end of the six-axis robot main body is connected with a mounting groove;
the inner wall of the mounting groove is provided with a driving structure, the driving structure is connected with a turntable and used for driving the turntable to rotate, the driving structure is also connected with a limiting structure, and the limiting structure is used for controlling the rotating position of the turntable;
the double-head gripper and the flexible gripper are arranged on the turntable and distributed towards two sides by the axis of the turntable;
the flexible gripper comprises a sealing groove, a flexible layer, a sealing plate, an air pump, an air outlet pipe, a plurality of return pipes, a plurality of electromagnetic valves and a plurality of drum-shaped pipes, wherein the sealing groove is connected with the side wall of the rotary table;
the air pump is arranged on the sealing plate to pump air or feed air from the sealed space, an air outlet of the air pump is hermetically connected with the air outlet pipe, the side wall of the air outlet pipe is connected with a plurality of uniformly distributed return pipes, each return pipe is provided with an electromagnetic valve, the other end of each return pipe penetrates through the sealing plate and is hermetically arranged, each return pipe is sealed with the drum-shaped pipe, and the plurality of drum-shaped pipes are communicated;
a plurality of the drum-shaped pipe is installed respectively on the inside wall of flexible layer, and a plurality of drum-shaped pipes from the top down are linear array and distribute and diminish in proper order, the pipeline of drum-shaped pipe is the heliciform and extends, and the diameter of drum-shaped pipe diminishes along with extending gradually.
Preferably, the drive structure includes driving motor, worm wheel, bull stick that can just reverse rotation, driving motor installs on the inner wall of mounting groove, the one end of worm is rotationally installed on the inner wall of mounting groove, the other end of worm and driving motor's power shaft connection, the both sides inner wall and the bull stick of mounting groove rotate to be connected, the worm wheel cover is on the bull stick, and worm wheel and worm meshing.
Preferably, the limiting mechanism comprises a disc and a plurality of arc limiting plates, the two limiting plates are respectively installed on the inner wall of the installation groove, a groove is installed on the side wall of the disc, the bottom wall of the groove is connected with a movable rod through a spring, one end of the movable rod is connected with a ball body, a spherical hollow part is formed in the inner wall of the ball body, a ball is arranged in the hollow part, the ball body and the ball center of the ball are not coincident, and the ball center of the ball body is closer to the spring;
the lateral wall of limiting plate and the lateral wall contact of disc, and the lateral wall of limiting plate has seted up curved spacing groove, the bottom of spacing groove is provided with pressure sensor, and the bottom of spacing groove still is provided with two arc pieces, two the arc piece is located pressure sensor both sides to it is spacing to the ball, and is equipped with the interval between two arc pieces, so that one side of ball passes interval and pressure sensor contact.
Preferably, the double-head gripper comprises two flat plates and two hard grippers, wherein one of the flat plates is arranged on the turntable, two gears are rotatably connected between the two flat plates and are meshed with each other, and a micro motor is further arranged on the side wall of one of the flat plates and is used for driving one gear to rotate;
the circle centers of the two gears are fixedly connected with driving portions, driven portions are rotatably connected between the flat plates, the driving portions and the driven portions are located on the same side, the driving portions and the driven portions are arranged in parallel, one ends, far away from the flat plates, of the driving portions and the driven portions are connected with the hard hand grips, and the pressure sensor is electrically connected with the driving motor.
Preferably, the stereoplasm tongs includes installation department and clamping part, the clamping part includes arc portion and two sawtooth parts, two the clamping part is located the both sides of sawtooth part respectively, the installation department is connected with the clamping part integration, and the installation department rotates with initiative portion and driven part respectively and is connected.
Preferably, the lateral wall of limiting plate all sets up with convex cambered surface, and the centre of sphere of ball is located the hollow portion to make the ball can not break away from in the hollow portion.
Compared with the prior art, the invention has the beneficial effects that:
1. the driving motor is used for driving the worm wheel and the worm to rotate, and then the flexible grippers and the double-end grippers on the rotary table are driven to rotate, so that different grippers can be replaced quickly for gripping, the practicability is high, the position stability is guaranteed by the self-locking effect of the worm wheel and the worm, and the driving motor is a self-locking motor;
2. the air pump can be used for pumping the air in the sealed space to form negative pressure, and the air pump can abut against the flexible layer to deform the flexible layer under the action of external air pressure, so that materials in different shapes are clamped, meanwhile, the air can enter the drum-shaped pipe through the return pipe, the inlet air of the drum-shaped pipe is enlarged and extended, and thus when the lower end of the flexible layer is retracted, the pressure of the drum-shaped pipe is further used for pressing the inner side wall of the flexible layer, the pressure between the drum-shaped pipe and the grabbed material is increased, and the grabbing stability is improved;
3. can the centre gripping softer article through arc portion, and utilize sawtooth portion can centre gripping weight great, the harder article of material increases the centre gripping dynamics through the friction of sawtooth, guarantees more stable when removing.
Drawings
FIG. 1 is a schematic structural diagram of a multi-gripper six-axis robot according to the present invention;
FIG. 2 is a schematic diagram of a dual-headed gripper;
FIG. 3 is a schematic connection diagram of a position limiting structure;
FIG. 4 is a schematic side view of the mounting groove;
FIG. 5 is a schematic view of a connection configuration of the flexible grip;
FIG. 6 is a schematic view showing a connection structure of a drum pipe and a return pipe.
In the figure: the robot comprises a six-axis robot main body 1, a mounting groove 2, a driving structure 3, a driving motor 301, a worm 302, a worm gear 303, a rotating rod 304, a rotating disk 4, a limiting structure 5, a disk 501, a limiting plate 502, a spring 503, a sphere 504, a ball 505, a pressure sensor 506, an arc block 507, a movable rod 508, a double-head gripper 6, a flat plate 601, a hard gripper 602, a gear 603, a driving part 604, a driven part 605, a flexible gripper 7, a sealing groove 701, a flexible layer 702, a sealing plate 703, an air pump 704, an air outlet pipe 705, an electromagnetic valve 706, a bulging pipe 707, a backflow pipe 708, an installation part 8, a clamping part 9, an arc part 10 and a sawtooth part 11.
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 to 6, the multi-gripper six-axis robot comprises a six-axis robot main body 1, wherein a mounting groove 2 is connected to the movable end of the six-axis robot main body 1;
the inner wall of the mounting groove 2 is provided with a driving structure 3, the driving structure 3 is connected with a turntable 4 and used for driving the turntable 4 to rotate, the driving structure 3 is also connected with a limiting structure 5, and the limiting structure 5 is used for controlling the rotating position of the turntable 4;
the double-head gripper 6 and the flexible gripper 7 are arranged on the rotary table 4, and the double-head gripper 6 and the flexible gripper 7 are distributed towards two sides by the axis of the rotary table 4;
the flexible hand grip 7 comprises a sealing groove 701, a flexible layer 702, a sealing plate 703, an air pump 704, an air outlet pipe 705, a plurality of return pipes 708, a plurality of electromagnetic valves 706 and a plurality of bulging pipes 707, wherein the sealing groove 701 is connected with the side wall of the turntable 4, the flexible layer 702 is integrally prismatic, the flexible layer 702 is hermetically connected with the sealing groove 701, the lower end of the flexible layer 702 is spherically concave, and the sealing plate 703 and the sealing groove 701 are hermetically arranged, so that a space formed among the sealing groove 701, the sealing plate 703 and the flexible layer 702 is a sealed space;
an air pump 704 is arranged on the sealing plate 703 to pump air or feed air from the sealed space, an air outlet of the air pump 704 is hermetically connected with an air outlet pipe 705, the side wall of the air outlet pipe 705 is connected with a plurality of uniformly distributed return pipes 708, each return pipe 708 is provided with an electromagnetic valve 706, the other end of each return pipe 708 penetrates through the sealing plate 703 and is hermetically arranged, the return pipes 708 are sealed with a bulging pipe 707, and a plurality of bulging pipes 707 are communicated;
a plurality of drum-shaped pipes 707 install respectively on the inside wall of flexible layer 702, and a plurality of drum-shaped pipes 707 from the top down is linear array and distributes and diminishes in proper order, and the pipeline of drum-shaped pipe 707 is the heliciform and extends, and the diameter of drum-shaped pipe 707 diminishes along with extending gradually, sets up according to the shape of flexible layer 702 like this, and is more convenient during the use, and sets up according to the diameter of drum-shaped pipe 707, can make the length of drum-shaped pipe 707 when extending longer, and spacing effect is better.
The driving structure 3 comprises a driving motor 301 capable of rotating forwards and backwards, a worm 302, a worm wheel 303 and a rotating rod 304, the driving motor 301 is installed on the inner wall of the installation groove 2, one end of the worm 302 is rotatably installed on the inner wall of the installation groove 2, the other end of the worm 302 is connected with a power shaft of the driving motor 301, the inner walls of two sides of the installation groove 2 are rotatably connected with the rotating rod 304, the worm wheel 303 is sleeved on the rotating rod 304, the worm wheel 303 is meshed with the worm 302, the driving motor 301 adopts a motor with a self-locking function, so that the positions of the worm wheel 303 and the worm 302 are limited, the driving motor 301 drives the worm 302 to rotate, the rotating rod 304 is driven to rotate through the rotation of the worm wheel 303, and the rotating disc 4 is driven to rotate.
The limiting mechanism comprises a disc 501 and a plurality of arc limiting plates 502, the two limiting plates 502 are respectively installed on the inner wall of the installation groove 2, a groove is installed on the side wall of the disc 501, the bottom wall of the groove is connected with a movable rod 508 through a spring 503, one end of the movable rod 508 is connected with a sphere 504, the inner wall of the sphere 504 is provided with a spherical hollow part, a ball 505 is arranged in the hollow part, the centers of the sphere 504 and the ball 505 are not coincident, and the center of the sphere 504 is closer to the spring 503; when the rotating rod 304 drives the disc 501 to rotate, the movable rod 508, the ball 504, the ball 505 and other devices are driven to rotate, and when the ball 505 contacts the limiting plate 502, the pressure compresses the spring 503, and the ball is further received in the groove.
The side wall of the limit plate 502 contacts with the side wall of the disc 501, the side wall of the limit plate 502 is provided with an arc-shaped limit groove, the bottom of the limit groove is provided with a pressure sensor 506, the bottom of the limit groove is also provided with two arc-shaped blocks 507, the two arc-shaped blocks 507 are positioned at two sides of the pressure sensor 506 to limit the ball 505, a space is arranged between the two arc-shaped blocks 507, so that one side of the ball 505 passes through the space to contact with the pressure sensor 506, when the groove moves to the limit groove, the ball 505 can be pushed out of the groove under the action of the rebounding force of the spring 503, the ball 505 contacts with the inner wall of the limit groove until the ball 505 contacts with the arc-shaped blocks 507, the ball 505 is clamped between the two arc-shaped blocks 507 and can generate pressure on the pressure sensor 506, the pressure sensor 506 is electrically connected with the driving motor 301, and the driving motor 301 can be controlled to be locked after receiving the pressure, thereby ensuring accuracy in adjusting the position of the flexible grip 7 and the double-ended grip 6.
The double-head gripper 6 comprises two flat plates 601 and two hard grippers 602, wherein one flat plate 601 is mounted on the turntable 4, two gears 603 are rotatably connected between the two flat plates 601, the two gears 603 are meshed with each other, and a micro motor is further mounted on the side wall of one flat plate 601 and used for driving one gear 603 to rotate; the micro motor is used for driving the gear 603 to rotate, the two driving parts 604 are driven by the gear 603 to rotate reversely or forwardly, the hard grippers 602 are driven to separate or approach, and the hard grippers 602 can be far away from or approach each other under the limitation of the driven part 605.
The centers of circles of the two gears 603 are fixedly connected with a driving part 604, a driven part 605 is rotatably connected between the two flat plates 601, the driving part 604 and the driven part 605 which are positioned on the same side are arranged in parallel, and one ends of the driving part 604 and the driven part 605 which are far away from the flat plates 601 are connected with the hard hand grip 602.
The lateral wall of limiting plate 502 all sets up with convex cambered surface, and the centre of sphere of ball is located the hollow portion to make the ball can not break away from in the hollow portion, utilize the roll of ball, can alleviate and the arc between frictional force, increase of service life.
When the robot is used, the six-axis robot main body 1 is utilized to drive the double-head gripper 6 or the flexible gripper 7 to move randomly, which belongs to the technical means used by technicians in the field and is not described herein;
when different grippers are required to be replaced, the driving structure 3 is only required to drive the rotary table 4 to rotate, so that the positions of the double-head gripper 6 and the flexible gripper 7 are adjusted, and different grippers can be used for gripping objects;
when the flexible gripper 7 is used, the air pump 704 can be used for pumping air in the sealed space to form negative pressure, the air pump can abut against the flexible layer 702 to deform the flexible layer 702 under the action of external air pressure, the flexible layer 702 is gradually collected into the sealed space, materials in different shapes are clamped, meanwhile, the air can enter the drum-shaped pipe 707 through the return pipe 708, the drum-shaped pipe 707 enters air to be enlarged and extended, and therefore when the lower end of the flexible layer 702 is collected, the pressure of the drum-shaped pipe 707 is further used for pressing the inner side wall of the flexible layer 702 to increase the pressure between the air and the materials to be grabbed, and the grabbing stability is improved;
when the material is loosened, the air in the drum pipe 707 is discharged by the solenoid valve 706, and the air is blown into the sealed space by the air pump 704, so that the deformed flexible layer 702 is restored to the original position, and thus the material can be loosened.
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 (6)
1. The multi-gripper six-axis robot comprises a six-axis robot main body (1), and is characterized in that the movable tail end of the six-axis robot main body (1) is connected with a mounting groove (2);
the inner wall of the mounting groove (2) is provided with a driving structure (3), the driving structure (3) is connected with a turntable (4) and used for driving the turntable (4) to rotate, the driving structure (3) is further connected with a limiting structure (5), and the limiting structure (5) is used for controlling the rotating position of the turntable (4);
the double-head gripper (6) and the flexible gripper (7) are mounted on the rotary table (4), and the double-head gripper (6) and the flexible gripper (7) are distributed towards two sides with the axis of the rotary table (4);
the flexible gripper (7) comprises a sealing groove (701), a flexible layer (702), a sealing plate (703), an air pump (704), an air outlet pipe (705), a plurality of return pipes (708), a plurality of electromagnetic valves (706) and a plurality of drum-shaped pipes (707), wherein the sealing groove (701) is connected with the side wall of the turntable (4), the flexible layer (702) is integrally prismatic, the flexible layer (702) is hermetically connected with the sealing groove (701), the lower end of the flexible layer (702) is spherically concave, and the sealing plate (703) is hermetically arranged with the sealing groove (701) so that a space formed among the sealing groove (701), the sealing plate (703) and the flexible layer (702) is a sealed space;
the air pump (704) is installed on the sealing plate (703) to extract or input air from the sealed space, the air outlet of the air pump (704) is connected with the air outlet pipe (705) in a sealing manner, the side wall of the air outlet pipe (705) is connected with a plurality of uniformly distributed return pipes (708), each return pipe (708) is provided with an electromagnetic valve (706), the other end of each return pipe (708) penetrates through the sealing plate (703) and is arranged in a sealing manner, the return pipes (708) are sealed with the drum-shaped pipes (707), and the plurality of drum-shaped pipes (707) are communicated with each other;
the plurality of drum-shaped pipes (707) are respectively arranged on the inner side wall of the flexible layer (702), the plurality of drum-shaped pipes (707) are distributed in a linear array from top to bottom and become smaller in sequence, the pipeline of the drum-shaped pipes (707) extends in a spiral shape, and the diameters of the drum-shaped pipes (707) become smaller gradually along with the extension.
2. The six axis robot of claim 1, characterized in that, the drive structure (3) includes can be just reversing the rotatory driving motor (301), worm (302), worm wheel (303), bull stick (304), driving motor (301) is installed on the inner wall of mounting groove (2), the one end of worm (302) is rotationally installed on the inner wall of mounting groove (2), the other end of worm (302) and driving motor's (301) power shaft connection, the both sides inner wall of mounting groove (2) is connected with bull stick (304) rotation, worm wheel (303) cover is on bull stick (304), and worm wheel (303) and worm (302) meshing.
3. The multi-gripper six-axis robot according to claim 2, wherein the limiting mechanism comprises a disc (501) and a plurality of arc limiting plates (502), two limiting plates (502) are respectively installed on the inner wall of the installation groove (2), a groove is installed on the side wall of the disc (501), the bottom wall of the groove is connected with a movable rod (508) through a spring (503), one end of the movable rod (508) is connected with a sphere (504), the inner wall of the sphere (504) is provided with a spherical hollow part, a ball (505) is arranged in the hollow part, the centers of the sphere (504) and the ball (505) are not coincident, and the center of the sphere (504) is closer to the spring (503);
the lateral wall of limiting plate (502) and the lateral wall contact of disc (501), and the curved spacing groove has been seted up to the lateral wall of limiting plate (502), the bottom of spacing groove is provided with pressure sensor (506), and the bottom of spacing groove still is provided with two arc pieces (507), two arc piece (507) are located pressure sensor (506) both sides to it is spacing to ball (505), and is equipped with the interval between two arc pieces (507), so that one side of ball (505) passes interval and pressure sensor (506) contact, pressure sensor (506) with driving motor (301) electricity is connected.
4. The multi-gripper six-axis robot according to claim 1 or 3, characterized in that the double-headed gripper (6) comprises two flat plates (601) and two hard grippers (602), wherein one of the flat plates (601) is mounted on the turntable (4), two gears (603) are rotatably connected between the two flat plates (601), the two gears (603) are mutually engaged, and a micro motor is further mounted on the side wall of one of the flat plates (601) and used for driving one gear (603) to rotate;
the circle centers of the two gears (603) are fixedly connected with driving parts (604), driven parts (605) are further rotatably connected between the two flat plates (601), the driving parts (604) and the driven parts (605) which are positioned on the same side are arranged in parallel, and one ends, far away from the flat plates (601), of the driving parts (604) and the driven parts (605) are connected with the hard gripper (602).
5. The multi-gripper six-axis robot according to claim 4, wherein the hard gripper (602) comprises an installation part (8) and a clamping part (9), the clamping part (9) comprises an arc-shaped part (10) and two saw tooth parts (11), the two clamping parts (9) are respectively arranged on two sides of the saw tooth parts (11), the installation part (8) is integrally connected with the clamping part (9), and the installation part (8) is respectively rotatably connected with the driving part (604) and the driven part (605).
6. The multi-gripper six-axis robot according to claim 3, wherein the side walls of the position limiting plates (502) are each provided with a convex arc, and the center of the ball is located in the hollow portion so that the ball does not escape from the hollow portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111281063.5A CN113843784A (en) | 2021-11-01 | 2021-11-01 | Multi-gripper six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111281063.5A CN113843784A (en) | 2021-11-01 | 2021-11-01 | Multi-gripper six-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113843784A true CN113843784A (en) | 2021-12-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111281063.5A Withdrawn CN113843784A (en) | 2021-11-01 | 2021-11-01 | Multi-gripper six-axis robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116767841A (en) * | 2023-08-09 | 2023-09-19 | 江苏恒润电力设计院有限公司 | Electric power material loading and unloading conveyer based on intelligent manipulator |
-
2021
- 2021-11-01 CN CN202111281063.5A patent/CN113843784A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116767841A (en) * | 2023-08-09 | 2023-09-19 | 江苏恒润电力设计院有限公司 | Electric power material loading and unloading conveyer based on intelligent manipulator |
| CN116767841B (en) * | 2023-08-09 | 2024-01-12 | 江苏恒润电力设计院有限公司 | Electric power material loading and unloading conveyer based on intelligent manipulator |
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Application publication date: 20211228 |