CN114102647A - Full-automatic combined industrial manipulator and control method thereof - Google Patents
Full-automatic combined industrial manipulator and control method thereof Download PDFInfo
- Publication number
- CN114102647A CN114102647A CN202111562316.6A CN202111562316A CN114102647A CN 114102647 A CN114102647 A CN 114102647A CN 202111562316 A CN202111562316 A CN 202111562316A CN 114102647 A CN114102647 A CN 114102647A
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- fixedly connected
- plate
- telescopic cylinder
- side wall
- central controller
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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
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic combined industrial manipulator which comprises a mechanical arm, wherein a first connecting plate is fixedly connected to the foremost end of the mechanical arm, two second connecting plates are fixedly connected to the bottom side wall of the first connecting plate, a first fixing plate and a second fixing plate are fixedly connected to the side walls of the two second connecting plates respectively, a first telescopic cylinder is fixedly connected to the bottom side wall of the first fixing plate, a connecting shell is fixedly connected to the bottom end of each first telescopic cylinder, a servo motor is fixedly connected to each connecting shell, the servo motor is connected with two clamping plates through a driving device, and a second camera is fixedly connected to the side wall of each connecting shell. The invention has reasonable design and ingenious conception, the mechanical arm can simultaneously have the clamping and welding functions, the automation degree is high, the occupied space is small, and the popularization is convenient.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a full-automatic combined industrial manipulator and a control method thereof.
Background
A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.
However, in the prior art, the manipulator generally has only a single clamping or welding function, and cannot simultaneously complete two different processes of clamping and welding in one machine. Along with the high-speed development of science and technology, the period of production line upgrading is greatly shortened, the automation degree of processing equipment with single function is low, the upgrading difficulty is large, the processing equipment is easy to eliminate, a production line needs to be formed, multiple machines need to be matched and combined, the occupied space is large, the equipment is frequently replaced, the cost pressure is caused to the industry upgrading, and the equipment is not suitable for being used by research and development mechanisms with small scales.
Disclosure of Invention
The invention provides a full-automatic combined industrial manipulator and a control method thereof, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic combined industrial manipulator comprises a manipulator, wherein a first connecting plate is fixedly connected to the foremost end of the manipulator, two second connecting plates are fixedly connected to the bottom side wall of the first connecting plate, a first fixing plate and a second fixing plate are respectively fixedly connected to the side walls of the two second connecting plates, a first telescopic cylinder is fixedly connected to the bottom side wall of the first fixing plate, a connecting shell is fixedly connected to the bottom end of each first telescopic cylinder, each connecting shell is internally and fixedly connected with a servo motor, the servo motor is connected with two clamping plates through a driving device, a second camera is fixedly connected to the side wall of the connecting shell, the bottom side wall of the second fixing plate is connected with a second telescopic cylinder through a pressure detection device, and the output end of the second telescopic cylinder is fixedly connected with a mounting plate, the utility model discloses a control system for the automobile seat, including mounting panel, central controller, signal input part, first telescopic cylinder, second telescopic cylinder and servo motor, fixedly connected with soldered connection on the lateral wall of mounting panel, the first camera of fixedly connected with on the lateral wall of mounting panel, fixedly connected with central controller and wireless transmission module on the lateral wall of first connecting plate, the signal output part of first camera and second camera all with central controller's signal input part electric signal connection, first telescopic cylinder, second telescopic cylinder and servo motor's signal input part all with central controller's signal output part electric signal connection, central controller is connected with control terminal through wireless transmission module.
As a further improvement scheme of the technical scheme: drive arrangement includes the gear, gear fixed connection servo motor's output, it is connected with the rack board all to mesh on the both sides wall of gear, the through hole has all been seted up on the both sides wall of connecting shell, every rack board sliding connection is in the through hole, every the one end fixedly connected with head rod of rack board, every the bottom fixedly connected with second connecting rod of head rod, every grip block fixed connection is in the one end of every second connecting rod, two through connection has the dead lever on the grip block, the equal fixedly connected with curb plate in both ends of dead lever, every curb plate fixed connection is on the lateral wall of connecting shell.
As a further improvement scheme of the technical scheme: two all fixedly connected with rubber pad on the relative lateral wall of grip block.
As a further improvement scheme of the technical scheme: pressure detection device includes two dead levers, every dead lever fixed connection is on the end lateral wall of second fixed plate, every the bottom fixedly connected with baffle of dead lever, every the cover is equipped with extrusion spring, two on the dead lever sliding connection has the movable plate on the dead lever, the bottom fixed connection of second telescopic cylinder is on the end lateral wall of movable plate, fixedly connected with pressure sensor on the end lateral wall of second fixed plate, one side that the movable plate deviates from the second telescopic cylinder supports on pressure sensor's detection is served, pressure sensor's signal output part and central controller's signal input part electric signal connection.
As a further improvement scheme of the technical scheme: the central controller adopts an MSP430 singlechip or a PLC controller with the model number of OMRON CP1E-N20 DR-D.
As a further improvement scheme of the technical scheme: the wireless transmission module is a wireless ZigBee module.
As a further improvement scheme of the technical scheme: the gear is made of wear-resistant steel.
As a further improvement scheme of the technical scheme: and anti-oxidation coatings are arranged on the side walls of the first telescopic cylinder and the second telescopic cylinder.
As a further improvement scheme of the technical scheme: the first connecting plate and the second connecting plate are both made of stainless steel.
Compared with the prior art, the invention has the beneficial effects that:
when welding is required, the first camera can send a detected image to the control terminal through the central controller and the wireless transmission module, the control terminal controls the welding head on the top end of the mechanical arm to move to a position to be welded according to the image, then the control terminal sends a signal to the central controller through the wireless transmission module, the central controller controls the second telescopic cylinder to extend, the second telescopic cylinder drives the welding head to carry out contact welding on the welding position through the mounting plate, when the welding head abuts against the welding position, the pressure sensor sends acting force of abutting pressure of the welding head to the control terminal through the central controller and the wireless transmission module, the control terminal can accurately control the welding force through the mechanical arm, when an object needs to be clamped, the second camera can send the detected image to the control terminal through the central controller and the wireless transmission module, then the control terminal controls the clamping plate on the top end of the mechanical arm to move to the position above an object to be clamped according to the image, then the control terminal sends a signal to the central controller through the wireless transmission module, the central controller controls the servo motor to rotate clockwise to drive the gear to rotate, the gear rotates to drive the rack plates on two sides to move back and forth, then the rack plates drive the two clamping plates to separate from each other through the first connecting rod and the second connecting rod, then the central controller controls the second telescopic cylinder to extend, the two clamping plates descend to two sides of the object to be clamped, then the servo motor is started anticlockwise, the servo motor drives the rack plates on two sides to move relatively, then the rack plates drive the two clamping plates to approach each other through the first connecting rod and the second connecting rod, the object is clamped and fixed between the two clamping plates, and the device is reasonable in design, the mechanical arm has the advantages of ingenious design, high automation degree, small occupied space and convenience in popularization, and the mechanical arm can have clamping and welding functions at the same time.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a fully automatic combined industrial robot according to the present invention;
fig. 2 is a schematic structural diagram of a full-automatic combined industrial robot in front cross section between a first connecting plate and a second connecting plate according to the present invention;
FIG. 3 is a schematic view of a portion of the enlarged structure of A in FIG. 2;
fig. 4 is a schematic top sectional view of a connecting shell of a fully automatic combined industrial robot according to the present invention;
fig. 5 is a schematic view of a bottom structure of a connecting shell in a fully automatic combined industrial robot according to the present invention;
fig. 6 is a schematic bottom structure diagram of a mounting plate in a fully automatic combined industrial robot according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
the automatic feeding device comprises a mechanical arm 1, a first connecting plate 2, a second connecting plate 3, a central controller 4, a first fixing plate 5, a second fixing plate 6, a pressure sensor 7, a fixing rod 8, an extrusion spring 9, a baffle 10, a telescopic cylinder 11, a mounting plate 12, a welding head 13, a telescopic cylinder 14, a connecting shell 15, a clamping plate 16, a first camera 17, a first connecting rod 18, a through hole 19, a gear 20, a rack plate 21, a second camera 22, a servo motor 23, a second connecting rod 24, a side plate 25, a fixing rod 26, a wireless transmission module 27 and a moving plate 28.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 6, in an embodiment of the present invention, a fully automatic combined industrial robot includes a robot arm 1, a first connecting plate 2 is fixedly connected to a foremost end of the robot arm 1, two second connecting plates 3 are fixedly connected to a bottom side wall of the first connecting plate 2, a first fixing plate 5 and a second fixing plate 6 are respectively fixedly connected to side walls of the two second connecting plates 3, a first telescopic cylinder 14 is fixedly connected to a bottom side wall of the first fixing plate 5, a connecting shell 15 is fixedly connected to a bottom end of each first telescopic cylinder 14, a servo motor 23 is fixedly connected to each connecting shell 15, the servo motor 23 is connected to two clamping plates 16 through a driving device, a second camera 22 is fixedly connected to a side wall of the connecting shell 15, a second telescopic cylinder 11 is connected to a bottom side wall of the second fixing plate 6 through a pressure detecting device, an output end of the second telescopic cylinder 11 is fixedly connected to a mounting plate 12, fixedly connected with soldered connection 13 on the lateral wall of mounting panel 12, first camera 17 of fixedly connected with on the lateral wall of mounting panel 12, fixedly connected with central controller 4 and wireless transmission module 27 on the lateral wall of first connecting plate 2, the signal output part of first camera 17 and second camera 22 all with central controller 4's signal input part signal connection, first telescopic cylinder 14, the signal input part of second telescopic cylinder 11 and servo motor 23 all with central controller 4's signal output part signal connection, central controller 4 is connected with control terminal through wireless transmission module 27, control terminal is connected with arm 1 electricity.
Specifically, the driving device includes a gear 20, the gear 20 is fixedly connected to an output end of a servo motor 23, two side walls of the gear 20 are respectively engaged and connected with rack plates 21, two side walls of the connecting shell 15 are respectively provided with a through hole 19, each rack plate 21 is slidably connected in the through hole 19, one end of each rack plate 21 is fixedly connected with a first connecting rod 18, a bottom end of each first connecting rod 18 is fixedly connected with a second connecting rod 24, each clamping plate 16 is fixedly connected to one end of each second connecting rod 24, a fixing rod 26 is penetratingly connected to the two clamping plates 16, two ends of the fixing rod 26 are respectively fixedly connected with a side plate 25, each side plate 25 is fixedly connected to a side wall of the connecting shell 15, a rubber pad is fixedly connected to one side wall opposite to the two clamping plates 16, when an object needs to be gripped, firstly, the second camera 22 can send a detected image to a control terminal through the central controller 4 and the wireless transmission module 27, then the control terminal moves to the upper part of the object to be clamped according to the clamping plate 16 on the top end of the image control mechanical arm 1, then the control terminal sends a signal to the central controller 4 through the wireless transmission module 27, the central controller 4 controls the servo motor 23 to rotate clockwise to drive the gear 20 to rotate, the gear 20 rotates to drive the rack plates 21 on the two sides to move back and forth, then the rack plates 21 drive the two clamping plates 16 to separate from each other through the first connecting rod 18 and the second connecting rod 24, then the central controller 4 controls the second telescopic cylinder 11 to extend to lower the two clamping plates 16 to the two sides of the object to be clamped, then the servo motor 23 is started anticlockwise, the servo motor 23 drives the rack plates 21 on the two sides to move relatively together, and then the rack plates 21 drive the two clamping plates 16 to approach each other through the first connecting rod 18 and the second connecting rod 24, the object is clamped and fixed between two clamping plates 16.
Specifically, the pressure detection device comprises two fixed rods 8, each fixed rod 8 is fixedly connected to the bottom side wall of the second fixed plate 6, the bottom end of each fixed rod 8 is fixedly connected with a baffle 10, an extrusion spring 9 is sleeved on each fixed rod 8, a moving plate 28 is slidably connected to the two fixed rods 8, the bottom end of the second telescopic cylinder 11 is fixedly connected to the bottom side wall of the moving plate 28, a pressure sensor 7 is fixedly connected to the bottom side wall of the second fixed plate 6, one side of the moving plate 28, which is far away from the second telescopic cylinder 11, is abutted to the detection end of the pressure sensor 7, the signal output end of the pressure sensor 7 is in electrical signal connection with the signal input end of the central controller 4, when welding is to be performed, the first camera 17 can send a detected image to a control terminal through the central controller 4 and a wireless transmission module 27, the control terminal moves to a part to be welded according to a welding head 13 on the top end of the mechanical arm 1 of the image control, then the control terminal sends a signal to the central controller 4 through the wireless transmission module 27, the central controller 4 controls the second telescopic cylinder 11 to extend, so that the second telescopic cylinder 11 drives the welding head 13 to perform contact welding on the welding part through the mounting plate 12, when the welding head 13 abuts against the welding part, the pressure sensor 7 sends the acting force of the abutting pressure of the welding head 13 to the control terminal through the central controller 4 and the wireless transmission module 27, and the control terminal can accurately control the welding force through the mechanical arm 1.
Specifically, the central controller 4 adopts an MSP430 singlechip or a PLC controller with the model number of OMRON CP1E-N20 DR-D.
Specifically, the wireless transmission module 27 is a wireless ZigBee module.
Specifically, the gear 20 is made of wear-resistant steel.
Specifically, the side walls of the first telescopic cylinder 14 and the second telescopic cylinder 11 are provided with anti-oxidation coatings.
Specifically, the first connecting plate 2 and the second connecting plate 3 are both made of stainless steel.
The working principle of the invention is as follows:
when welding is required, firstly, the first camera 17 can send detected images to the control terminal through the central controller 4 and the wireless transmission module 27, the control terminal controls the welding head 13 on the top end of the mechanical arm 1 to move to a position to be welded according to the images, then the control terminal sends a signal to the central controller 4 through the wireless transmission module 27, the central controller 4 controls the second telescopic cylinder 11 to extend, the second telescopic cylinder 11 drives the welding head 13 to perform contact welding on the welding position through the mounting plate 12, when the welding head 13 abuts against the welding position, the pressure sensor 7 sends acting force pressed by the welding head 13 to the control terminal through the central controller 4 and the wireless transmission module 27, and the control terminal can accurately control the welding force through the mechanical arm 1;
when an object needs to be gripped, the second camera 22 can send a detected image to the control terminal through the central controller 4 and the wireless transmission module 27, then the control terminal controls the clamping plate 16 on the top end of the mechanical arm 1 to move to the position above the object to be gripped according to the image, then the control terminal sends a signal to the central controller 4 through the wireless transmission module 27, the central controller 4 controls the servo motor 23 to rotate clockwise to drive the gear 20 to rotate, the gear 20 rotates to drive the rack plates 21 on the two sides to move back and forth, further the rack plates 21 drive the two clamping plates 16 to separate from each other through the first connecting rod 18 and the second connecting rod 24, then the central controller 4 controls the second telescopic cylinder 11 to extend to lower the two clamping plates 16 to the two sides of the object to be gripped, then the servo motor 23 is started anticlockwise, and the servo motor 23 drives the rack plates 21 on the two sides to move relatively, the rack plate 21, in turn, brings the two holding plates 16 close to each other via the first connecting rod 18 and the second connecting rod 24, and holds the object between the two holding plates 16.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (9)
1. The full-automatic combined industrial manipulator comprises a mechanical arm (1) and is characterized in that a first connecting plate (2) is fixedly connected to the foremost end of the mechanical arm (1), two second connecting plates (3) are fixedly connected to the bottom side wall of the first connecting plate (2), a first fixing plate (5) and a second fixing plate (6) are fixedly connected to the side walls of the two second connecting plates (3) respectively, a first telescopic cylinder (14) is fixedly connected to the bottom side wall of the first fixing plate (5), a connecting shell (15) is fixedly connected to the bottom end of each first telescopic cylinder (14), each connecting shell (15) is fixedly connected to the inside of each connecting shell (15), a servo motor (23) is fixedly connected to the inside of each connecting shell (15), each servo motor (23) is connected with two clamping plates (16) through a driving device, and a second camera (22) is fixedly connected to the side wall of each connecting shell (15), the bottom side wall of the second fixed plate (6) is connected with a second telescopic cylinder (11) through a pressure detection device, the output end of the second telescopic cylinder (11) is fixedly connected with a mounting plate (12), the side wall of the mounting plate (12) is fixedly connected with a welding head (13), a first camera (17) is fixedly connected on the side wall of the mounting plate (12), a central controller (4) and a wireless transmission module (27) are fixedly connected on the side wall of the first connecting plate (2), the signal output ends of the first camera (17) and the second camera (22) are in electric signal connection with the signal input end of the central controller (4), the signal input ends of the first telescopic cylinder (14), the second telescopic cylinder (11) and the servo motor (23) are all in electric signal connection with the signal output end of the central controller (4), the central controller (4) is connected with a control terminal through a wireless transmission module (27).
2. The fully automatic combined industrial robot and the control method thereof according to claim 1, wherein the driving device comprises a gear (20), the gear (20) is fixedly connected with an output end of a servo motor (23), rack plates (21) are respectively engaged and connected with two side walls of the gear (20), through holes (19) are respectively formed in two side walls of the connecting shell (15), each rack plate (21) is slidably connected in the through hole (19), one end of each rack plate (21) is fixedly connected with a first connecting rod (18), a bottom end of each first connecting rod (18) is fixedly connected with a second connecting rod (24), each clamping plate (16) is fixedly connected with one end of each second connecting rod (24), fixing rods (26) are respectively connected with two clamping plates (16) in a penetrating manner, and side plates (25) are respectively and fixedly connected with two ends of the fixing rods (26), each side plate (25) is fixedly connected to the side wall of the connecting shell (15).
3. The fully automatic combined industrial robot and the control method thereof as claimed in claim 1, wherein a rubber pad is fixedly connected to one of the opposite side walls of the two clamping plates (16).
4. The fully automatic combined industrial robot and the control method thereof according to claim 1, the pressure detection device is characterized by comprising two fixing rods (8), wherein each fixing rod (8) is fixedly connected to the bottom side wall of the second fixing plate (6), a baffle (10) is fixedly connected to the bottom end of each fixing rod (8), an extrusion spring (9) is sleeved on each fixing rod (8), a moving plate (28) is slidably connected to the two fixing rods (8), the bottom end of the second telescopic cylinder (11) is fixedly connected to the bottom side wall of the moving plate (28), the bottom side wall of the second fixed plate (6) is fixedly connected with a pressure sensor (7), one side of the movable plate (28) departing from the second telescopic cylinder (11) is propped against the detection end of the pressure sensor (7), and the signal output end of the pressure sensor (7) is in electric signal connection with the signal input end of the central controller (4).
5. The fully automatic combined industrial robot and the control method thereof according to claim 1, wherein the central controller (4) adopts an MSP430 single chip microcomputer or a PLC controller of the type OMRON CP1E-N20 DR-D.
6. The fully automatic combined industrial robot and the control method thereof according to claim 1, wherein the wireless transmission module (27) is a wireless ZigBee module.
7. The fully automatic combined industrial robot and the control method thereof according to claim 2, wherein the gear (20) is made of wear-resistant steel.
8. The fully automatic combined industrial robot and the control method thereof according to claim 1, wherein the side walls of the first telescopic cylinder (14) and the second telescopic cylinder (11) are provided with an anti-oxidation coating.
9. The fully automatic combined industrial robot and the control method thereof according to claim 1, wherein the first connecting plate (2) and the second connecting plate (3) are made of stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111562316.6A CN114102647A (en) | 2021-12-18 | 2021-12-18 | Full-automatic combined industrial manipulator and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111562316.6A CN114102647A (en) | 2021-12-18 | 2021-12-18 | Full-automatic combined industrial manipulator and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114102647A true CN114102647A (en) | 2022-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111562316.6A Withdrawn CN114102647A (en) | 2021-12-18 | 2021-12-18 | Full-automatic combined industrial manipulator and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366158A (en) * | 2022-10-24 | 2022-11-22 | 四川易华智源科技有限公司 | Manipulator based on image recognition technology and control method |
-
2021
- 2021-12-18 CN CN202111562316.6A patent/CN114102647A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366158A (en) * | 2022-10-24 | 2022-11-22 | 四川易华智源科技有限公司 | Manipulator based on image recognition technology and control method |
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Application publication date: 20220301 |