CN114319803B - A manipulator that is used for wall building robot of panel wall - Google Patents
A manipulator that is used for wall building robot of panel wall Download PDFInfo
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- CN114319803B CN114319803B CN202210238239.7A CN202210238239A CN114319803B CN 114319803 B CN114319803 B CN 114319803B CN 202210238239 A CN202210238239 A CN 202210238239A CN 114319803 B CN114319803 B CN 114319803B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/90—Passive houses; Double facade technology
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Abstract
The invention relates to a manipulator of a wall building robot for a batten wall, which comprises a frame body, wherein a fixed seat and a movable seat are arranged on the inner wall of the frame body, the inner walls of the fixed seat and the movable seat are both connected with a support arm in a sliding manner, and each end of the support arm is movably connected with two clamping pieces through a clamping seat and a pin shaft in a matching manner. The invention has the beneficial effects that: when the driving shaft is driven to rotate by the third motor, the two mutually meshed clamping pieces drive the clamping pieces to clamp the batten wall, the electromagnet is started immediately, the pressure regulating gear starts to be linked with the driving shaft through the clutch plate, the hydraulic rod starts to operate, and the pressure regulating gear meshed with the toothed plate starts to rotate in a small range. The mode can realize quick adaptation to batten walls with different thicknesses, the clamping force of small amplitude in the clamping process is adjusted more stably, the clamping force is guaranteed, the situation that the clamping force is too large or too small can be effectively prevented, and the control precision of the clamping force is improved under the matching condition.
Description
Technical Field
The invention relates to a manipulator for a batten wall building, in particular to a manipulator for a batten wall building robot, which can simultaneously and rapidly clamp and accurately control the change of clamping force.
Background
The light batten wall is a novel energy-saving wall material, is generally made of a light material or a large-hole light structure and has the advantages of solid, hollow and ribbed plates and the like, is used for a prefabricated batten of a non-bearing inner partition wall, has the advantages of light weight, high strength, multiple environmental protection, heat preservation, sound insulation, fire prevention, quick construction and the like, and has the process flows of working surface cleaning, measurement and paying-off, board selection and transportation, board positioning, inspection and correction, board installation and fixation, repair, corrosion prevention and rust prevention and inspection, the current batten wall adopts cement foaming battens for use gradually along with the control of the use of clay bricks in the current country, and the current batten wall needs mechanical equipment for auxiliary installation operation due to higher weight and larger volume when being installed, but the current batten wall needs mechanical fixation and hoisting before installation, if the clamping force is too large, the cement on the board surface is easily damaged to a certain degree, and if the clamping force is smaller, the stability of clamping is difficult to effectively ensure, so that the clamping of the batten wall has certain inconvenience.
The above drawbacks are expected to be overcome by those skilled in the art.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present invention provides a manipulator of a wall building robot for a slatted wall, which can be quickly adapted and clamped according to the size and thickness of different slatted walls, and can switch a driving structure for clamping during clamping, so that the clamping force can be firmly controlled in a small range.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the utility model provides a manipulator that is used for wall building robot of slatted wall, its includes the support body, the inner wall of support body is provided with fixing base and sliding seat, the equal sliding connection of inner wall of fixing base and sliding seat has the support arm, every one end of support arm all has two clamping pieces through cassette and round pin axle cooperation swing joint, the fixed surface of cassette is connected with the control box, the inner wall of control box has the drive shaft through bearing swing joint, the bottom of drive shaft and the last fixed surface who corresponds the clamping piece are connected, the last fixed surface of control box inner wall is connected with the third motor, the output shaft fixedly connected with driving gear of third motor.
The driving gear is meshed with the driven gear, the lower surface of the driven gear is fixedly connected with a coaxial gear, two ends of the driven gear are clamped on the inner wall of the control box through bearings, the coaxial gear is meshed with the driving gear, the driving shaft is provided with a guide groove arranged along the axial direction of the driving shaft, the surface of the driving shaft is sleeved with a pressure regulating gear and a clutch plate, the inner wall of the clutch plate is provided with a convex block so as to be in sliding connection with the guide groove, the upper surface of the clutch plate is matched with the shape of the lower surface of the pressure regulating gear, the upper surface of the inner wall of the control box is fixedly connected with an electromagnet, the electromagnet is positioned above a magnetic suction frame, the surface of the clutch plate is fixedly connected with a magnetic suction frame, the surface of the pressure regulating gear is meshed with a toothed plate, the upper surface of the toothed plate is fixedly connected with one end of a hydraulic rod through a pressing plate, and the surface of the toothed plate is fixedly connected with a positioning rod, the surface of the positioning rod is clamped on the inner wall of the control box through a sliding sleeve.
In one embodiment of the invention, the surface of the clamping piece is fixedly connected with a plurality of clamping pieces through bolts, the two clamping pieces are correspondingly meshed, and the inner wall of the driving gear is clamped on the surface of the driving shaft.
In one embodiment of the invention, the upper surface of the inner wall of the magnetic suction frame is lapped with the upper surface of the pressure regulating gear, and the lower surface of the pressure regulating gear and the lower surface of the clutch plate are lapped with the limiting rings clamped on the surface of the driving shaft.
In one embodiment of the invention, a reinforcing seat is welded on the left side surface of the frame body, a connecting plate is fixedly connected to the left side surface of the reinforcing seat, and the surface of the fixing seat is fixedly connected to the inner wall of the frame body.
In one embodiment of the invention, a second motor is fixedly arranged on the upper surface of the movable seat through a rack, an output shaft of the second motor is fixedly connected with a first gear, the first gear is meshed with the surfaces of the two second gears, the lower surfaces of the two second gears are fixedly connected with rollers, the surfaces of the rollers are provided with two meshing tooth grooves, and the meshing tooth grooves can be meshed with racks arranged on the outer side surfaces of the support arms.
In one embodiment of the invention, a first motor is fixedly connected to the lower surface of the inner wall of the frame body, a threaded rod is fixedly connected to an output shaft of the first motor, the other end of the threaded rod is clamped on the upper surface of the inner wall of the frame body through a bearing, the surface of the threaded rod is in threaded connection with a threaded sleeve clamped on the inner wall of the movable seat, a sliding rod is fixedly connected to the inner wall of the frame body, and the sliding rod and the threaded rod both penetrate through a through hole in the surface of the fixed seat.
In one embodiment of the invention, the surface of the hydraulic rod is fixedly connected to the inner wall of the control box, and the toothed plate and the positioning rod are slidably connected in a sliding hole formed in the inner wall of the control box.
(III) advantageous effects
1. The invention has the beneficial effects that: when the hydraulic rod is used, the third motor drives the driving gear to drive the driving gear to start rotating through the driven gear and the coaxial gear, so that the driving gear drives the driving shaft to rotate on the inner wall of the pressure regulating gear, the clutch plate synchronously rotates along with the guide groove, when the driving shaft rotates, the two mutually meshed clamping pieces drive the clamping pieces to clamp the batten wall, the electromagnet is started immediately, the adsorption magnetic suction frame drives the clutch plate to move upwards and clamp the lower surface of the pressure regulating gear, so that the pressure regulating gear starts to be linked with the driving shaft through the clutch plate, the hydraulic rod starts to operate, the toothed plate is pressed by the pressing plate to slide on the surface of the positioning rod, and the pressure regulating gear meshed with the toothed plate starts to rotate in a small amplitude, the third motor is closed, and the drive shaft passes through hydraulic stem direct control this moment, and this kind of mode can realize the quick adaptation to different thickness panel walls to and the clamping-force regulation of the small-amplitude in the clamping process is more stable, and clamping-force is secure, can prevent effectively that the too big or undersize condition of clamping-force from appearing, and the control accuracy of clamping-force is improved under the cooperation.
2. The invention has the beneficial effects that: when the rack is used, the first motor drives the threaded rod to start rotating along with the first motor, the movable seat of the threaded rod moves on the inner wall of the rack body under the action of the threaded rod immediately, the distance between the two support arms is changed, the rack is suitable for the sizes of different slat walls, meanwhile, after the slat walls are clamped, the second motor drives the first gear to start rotating, the first gear synchronously drives the two second gears to start rotating immediately, the two second gears respectively drive the corresponding rollers to start rotating, the meshing tooth grooves are matched with the racks, the support arms are kept to move, and therefore the purpose of adjusting the installation angle of the slat walls is achieved.
Drawings
FIG. 1 is a schematic structural diagram of a main perspective view of the present invention;
FIG. 2 is a schematic structural diagram of another perspective view of the present invention;
FIG. 3 is a schematic three-dimensional sectional structure of the movable seat of the present invention;
FIG. 4 is a schematic perspective view of a clip according to the present invention;
FIG. 5 is a schematic three-dimensional sectional structure of the control box of the present invention;
FIG. 6 is a schematic cross-sectional view of a front view of the control box of the present invention;
FIG. 7 is a schematic view of the exploded magnetic rack of the present invention;
fig. 8 is a structural schematic diagram of the toothed plate and the pressure regulating gear in a meshing state;
FIG. 9 is a perspective view of a driven gear according to the present invention;
[ description of reference ]
1: a frame body; 2: a fixed seat; 3: a slide bar; 4: a movable seat; 5: a first motor; 6: a threaded rod; 7: a reinforcement base; 8: a connecting plate; 9: a support arm; 10: a card holder; 11: a second motor; 12: a first gear; 13: a second gear; 14: engaging the tooth grooves; 15: a rack; 16: a control box; 17: a clip; 18: a clamp; 19: a third motor; 20: a driving gear; 21: a driven gear; 22: a coaxial gear; 23: a drive gear; 24: a drive shaft; 25: a pressure regulating gear; 26: a clutch plate; 27: a magnetic rack; 28: a guide groove; 29: a hydraulic lever; 30: pressing a plate; 31: a toothed plate; 32: positioning a rod; 33 an electromagnet.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 9, a manipulator of a wall building robot for a slat wall according to an embodiment of the present invention includes a frame body 1, a fixed seat 2 and a movable seat 4 are disposed on an inner wall of the frame body 1, inner walls of the fixed seat 2 and the movable seat 4 are both connected with a support arm 9 in a sliding manner, each end of the support arm 9 is movably connected with two clamping pieces 17 through a clamping seat 10 and a pin shaft in a matching manner, a control box 16 is fixedly connected to a surface of the clamping seat 10, an inner wall of the control box 16 is movably connected with a driving shaft 24 through a bearing, a bottom end of the driving shaft 24 is fixedly connected with an upper surface of the corresponding clamping piece 17, and the other clamping piece 17 is engaged with the clamping piece 17 fixedly connected to the driving shaft 24; the drive shaft 24 is provided with a guide groove 28 provided along the axial direction of the drive shaft 24. The upper surface of the inner wall of the control box 16 is fixedly connected with a third motor 19, and an output shaft of the third motor 19 is fixedly connected with a driving gear 20.
Driving gear 20 meshes with driven gear 21 mutually, driven gear 21's lower surface fixedly connected with coaxial gear 22, the bearing joint is passed through at the inner wall of control box 16 at driven gear 21's both ends, coaxial gear 22 meshes with drive gear 23 mutually, the surface of drive shaft 24 has cup jointed pressure regulating gear 25 and the inner wall is provided with the lug, with clutch plate 26 with guide way 28 sliding connection, clutch plate 26's fixed surface is connected with magnetism and inhales frame 27, pressure regulating gear 25's surface meshes has pinion rack 31, the upper surface of pinion rack 31 passes through the one end fixed connection of clamp plate 30 with hydraulic stem 29, the fixed surface of pinion rack 31 is connected with locating lever 32, the surface of locating lever 32 passes through the inner wall of sliding sleeve joint at control box 16.
By arranging the driving gear 20, the driven gear 21 and the driving gear 23, the third motor 19 drives the driving gear 20 to make the driven gear 21 and the coaxial gear 22 drive the driving gear 23 to start rotating;
through the arrangement of the driving shaft 24, the pressure regulating gear 25, the rack 15 and the clutch plate 26, the driving gear 23 drives the driving shaft 24 to rotate on the inner wall of the pressure regulating gear 25, the clutch plate 26 rotates synchronously with the guide groove 28, when the driving shaft 24 rotates, the two mutually meshed clamping pieces 17 drive the clamping piece 18 to clamp the batten wall, the electromagnet 33 is started immediately, and the adsorption magnetic suction frame 27 drives the clutch plate 26 to move upwards and is clamped into the lower surface of the pressure regulating gear 25;
the driving shaft 24 drives the clutch plate 26 to synchronously rotate, the pressure regulating gear 25 starts to be linked with the driving shaft 24 through the clutch plate 26, the hydraulic rod 29 starts to operate, the toothed plate 31 is pressed through the pressing plate 30 to slide on the surface of the positioning rod 32, the pressure regulating gear 25 meshed with the toothed plate 31 starts to rotate in a small range, the third motor 19 is turned off, and the driving shaft 24 is directly controlled through the hydraulic rod 29 at the moment.
In the mode, the rapid adaptation to the batten walls with different thicknesses can be realized, the clamping force of a small amplitude in the clamping process is adjusted more stably, the clamping force is guaranteed, the situation that the clamping force is too large or too small can be effectively prevented, and the control precision of the clamping force is improved under the matching condition.
Wherein, the surface of the clamping piece 17 is fixedly connected with a plurality of clamping pieces 18 through bolts, corresponding to the engagement between the two clamping pieces 18, the inner wall of the driving gear 23 is clamped on the surface of the driving shaft 24.
Preferably, the clamping pieces 18 are adopted, the clamping pieces 18 are arranged on the surfaces of the clamping pieces 17, the clamping pieces 18 on the surfaces start to move synchronously when the clamping pieces 17 move, different numbers of clamping pieces 18 can be arranged according to requirements, the clamping force area can be changed according to requirements, the clamping pieces 18 are mutually overlapped in parallel, and the clamping pieces 18 can be mutually meshed through the arrangement of the clamping pieces 18 so as to keep a good synchronous movement effect.
Wherein, the upper surface of frame 27 inner wall and the upper surface overlap joint of pressure regulating gear 25 are inhaled to magnetism, and the lower surface of pressure regulating gear 25 and the lower surface of clutch plate 26 all overlap joint have the spacing ring of joint in drive shaft 24 surface, and setting up of spacing ring has avoided pressure regulating gear 25 can slide down under the action of gravity, direct and clutch plate 26 contact. The surface of the driving shaft 24 is provided with a guide groove 28, and the inner wall of the clutch plate 26 is slidably connected to the inner wall of the guide groove 28 through a projection.
Preferably, by providing the magnetic attraction frame 27, the magnetic attraction frame 27 can maintain the effect of performing a good matching motion on the clutch plate 26. The magnetic attraction frame 27 can be attracted by the electromagnet 33, so that when the pressure regulating gear 25 rotates slowly, the clutch plate 26 is attracted by the attraction force and clamped with the lower surface of the pressure regulating gear 25.
Wherein, the upper surface of clutch plate 26 is fit with the shape of the lower surface of pressure regulating gear 25, the upper surface of the inner wall of control box 16 is fixedly connected with electromagnet 33, electromagnet 33 is positioned above magnetic rack 27.
Wherein, the welding of the left surface of support body 1 has the seat of strengthening 7, strengthens the left surface fixedly connected with connecting plate 8 of seat 7, and the fixed surface of fixing base 2 is connected at the inner wall of support body 1.
The preferred, through setting up fixing base 2, fixing base 2 is fixed the setting, makes it possess good stability, and through setting up support body 1, support body 1 plays holistic intensity and keeps the effect.
Wherein, the upper surface of sliding seat 4 has second motor 11 through frame fixed mounting, and the first gear 12 of output shaft fixedly connected with of second motor 11, first gear 12 and two second gear 13's surface mesh mutually, and two meshing tooth's socket 14's roller is seted up on the equal fixedly connected with surface of lower surface of two second gears 13, and the roller surface is equipped with meshing tooth's socket 14, and meshing tooth's socket can mesh with rack 15 that the support arm lateral surface was seted up.
Preferably, by arranging the second motor 11, the second motor 11 starts to rotate by driving the first gear 12, and then the first gear 12 synchronously drives the two second gears 13 to start to rotate, and the two second gears 13 respectively drive the corresponding rollers to start to rotate; the surface of the roller is provided with a meshing tooth groove 14, the meshing tooth groove 14 can be meshed with a rack 15 arranged on the outer side surface of the support arm 9, and the support arm 9 is moved through the meshing cooperation of the meshing tooth groove 14 and the rack 15, so that the change of the installation angle of the slat wall is adjusted.
Wherein, the lower fixed surface of the 1 inner wall of support body is connected with first motor 5, and the output shaft fixedly connected with threaded rod 6 of first motor 5, the other end of threaded rod 6 pass through the upper surface of bearing joint at 1 inner wall of support body, the threaded bush threaded connection of the surface of threaded rod 6 and 4 inner wall joints of sliding seat, the inner wall fixedly connected with slide bar 3 of support body 1, slide bar 3 all runs through with threaded rod 6 and sets up in the through-hole on fixing base 2 surface.
Preferably, as the first motor 5 drives the threaded rod 6 to start rotating, the movable base 4 moves on the inner wall of the frame body 1 under the action of the threaded rod 6, so that the distance between the two support arms 9 changes, and the movable base adapts to the sizes of different slatted walls.
The surface of the hydraulic rod 29 is fixedly connected to the inner wall of the control box 16, and the surfaces of the toothed plate 31 and the positioning rod 32 are slidably connected in a sliding hole formed in the inner wall of the control box 16.
Preferably, by providing a sliding hole, the sliding hole can keep the redundant part of the toothed plate 31 to slide inside the sliding hole after the hydraulic rod 29 is driven, so as to prevent the control box 16 from shielding the redundant part.
In conclusion, the manipulator of the wall building robot for the slat walls can fix and move slat walls with different thicknesses and widths, can realize quick adaptive clamping under the driving of the third motor 19 for the slat walls with different thicknesses, and can realize quick clamping under the seamless switching of the manipulator and the hydraulic rod 29, so that the harmony and unity of the quick clamping and the clamping force are realized, and after the operation mode of the hydraulic rod 29 is switched, the clamping force can be kept to be controlled more accurately, and the clamping can be adjusted accurately according to the slat walls made of different materials so as to adapt to the stability of the clamping.
Claims (7)
1. The utility model provides a manipulator that is used for wall building robot of panel wall, its includes the support body, its characterized in that: the inner wall of the frame body is provided with a fixed seat and a movable seat, the inner walls of the fixed seat and the movable seat are both connected with a support arm in a sliding manner, each end of the support arm is movably connected with two clamping pieces through a clamping seat and a pin shaft in a matching manner, the surface of the clamping seat is fixedly connected with a control box, the inner wall of the control box is movably connected with a driving shaft through a bearing, the bottom end of the driving shaft is fixedly connected with the upper surfaces of the corresponding clamping pieces, the upper surface of the inner wall of the control box is fixedly connected with a third motor, and an output shaft of the third motor is fixedly connected with a driving gear;
the driving gear is meshed with the driven gear, the lower surface of the driven gear is fixedly connected with a coaxial gear, two ends of the driven gear are clamped on the inner wall of the control box through bearings, the coaxial gear is meshed with the driving gear, the driving shaft is provided with a guide groove arranged along the axial direction of the driving shaft, the surface of the driving shaft is sleeved with a pressure regulating gear and a clutch plate, the inner wall of the clutch plate is provided with a lug and is in sliding connection with the guide groove, the upper surface of the clutch plate is matched with the shape of the lower surface of the pressure regulating gear, the upper surface of the inner wall of the control box is fixedly connected with an electromagnet, the electromagnet is positioned above the magnetic suction frame, the surface of the clutch plate is fixedly connected with a magnetic suction frame, the surface of the pressure regulating gear is meshed with a toothed plate, the upper surface of the toothed plate is fixedly connected with one end of a hydraulic rod through a pressing plate, and the surface of the toothed plate is fixedly connected with a positioning rod, the surface of the positioning rod is clamped on the inner wall of the control box through a sliding sleeve.
2. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the surface of the clamping piece is fixedly connected with a plurality of clamping pieces through bolts, the clamping pieces are correspondingly meshed with each other, and the inner wall of the driving gear is clamped on the surface of the driving shaft.
3. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the upper surface of frame inner wall and the upper surface overlap joint of pressure regulating gear are inhaled to the magnetism, the lower surface of pressure regulating gear and the lower surface of clutch plate all overlap joint have the spacing ring of joint in drive shaft surface.
4. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the welding of the left surface of support body has the enhancement seat, the left surface fixedly connected with connecting plate of strengthening the seat, the fixed surface of fixing base is connected at the inner wall of support body.
5. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the upper surface of sliding seat has the second motor through frame fixed mounting, the first gear of output shaft fixedly connected with of second motor, the surface of first gear and two second gears meshes mutually, and the roller of two meshing tooth's socket is seted up on the equal fixedly connected with surface of lower surface of two second gears, and the roller surface is equipped with the meshing tooth's socket, and the meshing tooth's socket can mesh with the rack toothing that the support arm lateral surface was seted up.
6. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the utility model discloses a support body, including support body, support body inner wall, the lower fixed surface of support body inner wall is connected with first motor, the output shaft fixedly connected with threaded rod of first motor, the other end of threaded rod passes through the upper surface of bearing joint at the support body inner wall, the surface of threaded rod and the thread bush threaded connection of sliding seat inner wall joint, the inner wall fixedly connected with slide bar of support body, the slide bar all runs through with the threaded rod and sets up in the through-hole on fixing base surface.
7. A manipulator of a walling robot for a slatted wall according to claim 1, wherein: the surface fixed connection of hydraulic stem is at the inner wall of control box, the surface sliding connection of pinion rack and locating lever is in the slide opening that the control box inner wall was seted up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210238239.7A CN114319803B (en) | 2022-03-11 | 2022-03-11 | A manipulator that is used for wall building robot of panel wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210238239.7A CN114319803B (en) | 2022-03-11 | 2022-03-11 | A manipulator that is used for wall building robot of panel wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114319803A CN114319803A (en) | 2022-04-12 |
| CN114319803B true CN114319803B (en) | 2022-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210238239.7A Active CN114319803B (en) | 2022-03-11 | 2022-03-11 | A manipulator that is used for wall building robot of panel wall |
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| CN (1) | CN114319803B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140363264A1 (en) * | 2013-06-10 | 2014-12-11 | Harvest Automation, Inc. | Gripper assembly for autonomous mobile robots |
| CN210439642U (en) * | 2019-05-31 | 2020-05-01 | 中建南海(福建)建设发展有限公司 | Wall plaque installation is with shore device |
| CN210392854U (en) * | 2019-07-19 | 2020-04-24 | 六安市双新建材有限公司 | Novel hollow brick transport is with grabbing a set anchor clamps and gripper |
| BE1028083B1 (en) * | 2020-02-20 | 2021-09-21 | Robojob Nv | Robotic arm with gripper |
| CN213918268U (en) * | 2020-11-13 | 2021-08-10 | 桂林电子科技大学 | Clamping device is smugglied secretly to engineering machine tool |
| CN213979799U (en) * | 2020-11-23 | 2021-08-17 | 史洪才 | Light partition plate mounting machine |
| CN112873254A (en) * | 2021-03-06 | 2021-06-01 | 柳斯 | Interval adjustable manipulator clamping device |
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2022
- 2022-03-11 CN CN202210238239.7A patent/CN114319803B/en active Active
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| CN114319803A (en) | 2022-04-12 |
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