CN114603582B - Multi-axis swing arm manipulator - Google Patents
Multi-axis swing arm manipulator Download PDFInfo
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- CN114603582B CN114603582B CN202210500539.8A CN202210500539A CN114603582B CN 114603582 B CN114603582 B CN 114603582B CN 202210500539 A CN202210500539 A CN 202210500539A CN 114603582 B CN114603582 B CN 114603582B
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- 238000010586 diagram Methods 0.000 description 2
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- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model is applicable to the technical field of manipulators, and provides a multi-axis swing arm manipulator which comprises a supporting bottom plate and further comprises: the first connecting plate is fixedly connected to the supporting bottom plate, and the first connecting plate and the supporting bottom plate are provided with a height adjusting unit in a matched mode; the device comprises a first connecting plate, a second connecting plate, a horizontal adjusting unit, a clamping assembly and a clamping assembly, wherein the first connecting plate is connected with the first connecting plate through the first connecting plate, the second connecting plate is connected with the height adjusting unit through the second connecting plate, the side surface of the second connecting plate is connected with the first adjusting block through the horizontal adjusting unit, the side surface of the first adjusting block is connected with the third connecting plate through the angle adjusting unit, the clamping height is adjusted through the height adjusting unit, the objects in all directions can be clamped through the arrangement of the rotation unit, the horizontal adjusting unit can move in the horizontal direction and is convenient to clamp the objects, the objects in different angles can be clamped and fixed through the arrangement of the angle adjusting unit, and the objects in different sizes can be clamped stably through the arrangement of the clamping assembly.
Description
Technical Field
The utility model belongs to the technical field of manipulators, and particularly relates to a multi-axis swing arm manipulator.
Background
The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming, the structure and the performance of the manipulator have the advantages of a human body and a manipulator device, the manipulator is an industrial robot which appears earliest and is a modern robot which appears earliest, the manipulator can replace heavy labor of people to realize mechanization and automation of production, and the manipulator can be operated under harmful environments to protect personal safety, so the manipulator is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.
The applicant finds a Chinese patent with a patent publication number of CN 212312030U, namely a multi-axis swing arm manipulator, the clamping angle is adjusted by a servo motor, so that the manipulator is more flexible to use, the use height is convenient to adjust and the clamping position is prolonged by a first electric sliding rail and a second electric sliding rail, and the manipulator is protected by the support of a roller and a lifting frame; however, when the device is used, the manipulator can only clamp the object below, but can not clamp the object above or in the horizontal direction, and the manipulator of the device can not clamp the object with different angles sometimes because of the angle difference of the object.
Disclosure of Invention
The utility model provides a multi-axis swing arm manipulator, which aims to solve the problem that the manipulator can only clamp objects below, but can not clamp objects above or in the horizontal direction, and the manipulator of the device can not clamp objects with different angles sometimes because of angle difference of the objects.
The utility model is realized in such a way that a multi-axis swing arm manipulator comprises a supporting bottom plate and further comprises: the first connecting plate is fixedly connected to the supporting bottom plate, and the first connecting plate and the supporting bottom plate are provided with a height adjusting unit in a matched mode; the second connecting plate is connected with the height adjusting unit through the rotation adjusting unit, the side face of the second connecting plate is connected with the first adjusting block through the horizontal adjusting unit, the side face of the first adjusting block is connected with the third connecting plate through the angle adjusting unit, and the third connecting plate is provided with a clamping assembly.
Preferably, the height adjusting unit includes: the height adjusting motor is fixedly connected to the supporting bottom plate; the reciprocating screw rod is fixedly connected to the output end of the height adjusting motor; the reciprocating sliding block is in threaded connection with the side face of the reciprocating screw rod; the end part of the reciprocating screw rod is rotationally connected to a fourth connecting plate, and the fourth connecting plate is fixedly connected with the first connecting plate.
Preferably, the shape of the reciprocating slider is cylindrical.
Preferably, the rotation adjusting unit includes: the rotating adjusting plate is fixedly connected to the side face of the second connecting plate; the first adjusting threaded pin penetrates through the rotating adjusting plate, and first threaded holes which are distributed in a circumferential array and matched with the first adjusting threaded pin are formed in the side face of the reciprocating sliding block; the first clamping plate is fixedly connected to the side face of the reciprocating sliding block, and the reciprocating sliding block is connected with the second connecting plate through the first clamping plate.
Preferably, the level adjustment unit includes: the horizontal adjusting cylinder is fixedly connected to the side face of the second connecting plate; the first connecting rod is fixedly connected to the output end of the horizontal adjusting cylinder; the limiting rod penetrates through the first adjusting block and is fixedly connected to the side face of the second connecting plate, and a limiting strip is fixedly connected to the limiting rod.
Preferably, the angle adjusting unit includes: one end of the threaded rod is fixedly connected to the side face of the first adjusting block, and the other end of the threaded rod is rotationally connected with the third connecting plate through the first rotating shaft; the adjusting knob is in threaded connection with the side face of the threaded rod; the second connecting rod, the one end of second connecting rod is rotated through second pivot and third connecting plate and is connected, the other end of second connecting rod is rotated through third pivot and second regulating block and is connected, the side fixedly connected with second joint plate of second regulating block, the first joint groove with second joint plate complex is seted up to the side of adjust knob.
Preferably, the clamping assembly comprises: the left adjusting rod piece is connected with the third connecting plate in a sliding way through the interval adjusting unit, and the right adjusting rod piece is fixedly connected with the third connecting plate; the clamping plate is fixedly connected with the adjusting rod piece through a third connecting rod.
Preferably, the adjusting lever includes: the inner adjusting rod is sleeved with the outer adjusting rod, a second clamping groove is formed in the inner adjusting rod, two clamping balls are symmetrically arranged in the second clamping groove, the two clamping balls are connected through springs for providing elasticity, and a plurality of clamping holes matched with the clamping balls are uniformly distributed in the outer adjusting rod.
Preferably, the interval adjusting unit includes: the third connecting plate is fixedly connected with the left adjusting inner rod, a third clamping groove matched with the left adjusting inner rod is formed in the third connecting plate, a second adjusting threaded pin is connected to the fifth connecting plate in a threaded mode, and second threaded holes matched with the second adjusting threaded pin are formed in the third connecting plate in an array mode.
Preferably, the side surface of the clamping plate is fixedly connected with a plurality of clamping heads distributed in an array.
Compared with the prior art, the embodiment of the utility model has the following main beneficial effects:
according to the multi-axis swing arm manipulator provided by the utility model, the clamping height is adjusted through the height adjusting unit, the rotating unit is arranged, objects in all directions can be clamped, the horizontal adjusting unit is arranged, the horizontal adjusting unit can move in the horizontal direction, the objects can be conveniently clamped, the angle adjusting unit is arranged, the objects in different angles can be clamped and fixed, and the clamping assembly is arranged, so that the objects in different sizes can be stably clamped.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-axis swing arm manipulator provided by the utility model;
FIG. 2 is an enlarged schematic view of the structure of FIG. 1 at A;
FIG. 3 is an enlarged schematic view of the structure at B in FIG. 1;
FIG. 4 is an enlarged schematic view of the structure at C in FIG. 1;
FIG. 5 is an enlarged schematic view of the structure at D in FIG. 1;
fig. 6 is a schematic structural view of a first clamping groove on an adjusting knob in a multi-axis swing arm manipulator according to the present utility model;
fig. 7 is a schematic structural diagram of an adjusting rod in a multi-axis swing arm manipulator according to the present utility model;
fig. 8 is a schematic structural view of a second threaded hole and a third clamping groove on a third connecting plate in a multi-axis swing arm manipulator provided by the utility model;
fig. 9 is a schematic structural view of a connection between a second adjusting block and a second clamping plate in the multi-axis swing arm manipulator provided by the utility model;
fig. 10 is a schematic structural view of a connection between a reciprocating slider and a first clamping plate in a multi-axis swing arm manipulator according to the present utility model.
Reference numerals annotate: 1. a support base plate; 2. a first connection plate; 3. a second connecting plate; 4. a first adjustment block; 501. a height adjusting motor; 502. a reciprocating screw rod; 503. a reciprocating slide block; 504. a fourth connecting plate; 601. rotating the adjusting plate; 602. a first adjustment threaded pin; 603. a first threaded hole; 604. a first clamping plate; 701. a horizontal adjustment cylinder; 702. a first connecting rod; 703. a limit rod; 704. a limit bar; 801. a threaded rod; 802. a first rotating shaft; 803. an adjustment knob; 804. a second connecting rod; 805. a second rotating shaft; 806. a third connecting rod; 807. a third rotating shaft; 808. a second adjustment block; 809. a second clamping plate; 810. a first clamping groove; 9. a clamping plate; 101. adjusting the inner rod; 102. adjusting the outer rod; 103. a second clamping groove; 104. a clamping ball; 105. a spring; 106. a clamping hole; 111. a fifth connecting plate; 112. a third clamping groove; 113. a second adjusting threaded pin; 114. a second threaded hole; 12. a clamping head; 13. and a third connecting plate.
Detailed Description
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The embodiment of the utility model provides a multi-axis swing arm manipulator, which is shown in fig. 1-10, and comprises a support bottom plate 1, and further comprises: the first connecting plate 2 is fixedly connected to the supporting bottom plate 1, and the first connecting plate 2 and the supporting bottom plate 1 are provided with a height adjusting unit in a matched mode; the second connecting plate 3, the second connecting plate 3 is connected with the height adjustment unit through rotating the adjustment unit, the side of second connecting plate 3 is connected with first regulating block 4 through horizontal adjustment unit, the side of first regulating block 4 is connected with third connecting plate 13 through angle adjustment unit, be provided with the clamping assembly on the third connecting plate 13.
When the device is actually used, the height of the clamping is adjusted by the height adjusting unit, the objects in all directions can be clamped by the rotating unit, the objects can be conveniently clamped by the horizontal adjusting unit, the objects at different angles can be fixedly clamped by the angle adjusting unit, and the objects at different sizes can be stably clamped by the clamping assembly.
The height adjusting unit includes: a height adjusting motor 501, wherein the height adjusting motor 501 is fixedly connected to the supporting base plate 1; the reciprocating screw rod 502 is fixedly connected to the output end of the height adjusting motor 501; a reciprocating slider 503, wherein the reciprocating slider 503 is in threaded connection with the side surface of the reciprocating screw 502; the end of the reciprocating screw rod 502 is rotatably connected to a fourth connecting plate 504, and the fourth connecting plate 504 is fixedly connected to the first connecting plate 2.
The reciprocating slider 503 has a cylindrical shape.
When the height adjusting unit is actually used, the height adjusting motor 501 rotates to drive the reciprocating screw rod 502 to rotate, and then drives the reciprocating slide block 503 to move up and down in the vertical direction, so as to adjust the clamping height of the whole object.
Referring to fig. 2 and 10, the rotation adjusting unit includes: a rotation adjusting plate 601, wherein the rotation adjusting plate 601 is fixedly connected to the side surface of the second connecting plate 3; the first adjusting threaded pin 602, the first adjusting threaded pin 602 passes through the rotating adjusting plate 601, and a first threaded hole 603 which is distributed in a circumferential array and is matched with the first adjusting threaded pin 602 is formed in the side surface of the reciprocating sliding block 503; the first clamping plate 604 is fixedly connected to the side surface of the reciprocating slide block 503, and the reciprocating slide block 503 is connected with the second connecting plate 3 through the first clamping plate 604.
When the above rotation adjusting unit is actually used, the second connecting plate 3 is rotated by rotating the adjusting plate 601 according to the requirement, and then the first adjusting threaded pin 602 passes through the rotation adjusting plate 601 to be connected with the first threaded hole 603 at the corresponding position, so that objects in different directions can be clamped.
The level adjustment unit includes: the horizontal adjusting cylinder 701 is fixedly connected to the side surface of the second connecting plate 3; the first connecting rod 702, the first connecting rod 702 is fixedly connected to the output end of the horizontal adjusting cylinder 701; the limiting rod 703, the limiting rod 703 passes through the first regulating block 4 and is fixedly connected to the side surface of the second connecting plate 3, and a limiting strip 704 is fixedly connected to the limiting rod 703.
When the horizontal adjustment unit is actually used, the output end of the horizontal adjustment cylinder 701 drives the first connecting rod 702 to move, so that the object can be clamped at different horizontal positions.
Referring to fig. 4, 6 and 9, the angle adjusting unit includes: the threaded rod 801, one end of the threaded rod 801 is fixedly connected to the side face of the first adjusting block 4, and the other end of the threaded rod 801 is rotatably connected with the third connecting plate 13 through a first rotating shaft 802; an adjusting knob 803, wherein the adjusting knob 803 is in threaded connection with the side surface of the threaded rod 801; the second connecting rod 804, the one end of second connecting rod 804 is rotated through second pivot 805 and is connected with third connecting plate 13, the other end of second connecting rod 804 is rotated through third pivot 807 and is connected with second regulating block 808, the side fixedly connected with second joint plate 809 of second regulating block 808, the first joint groove 810 with second joint plate 809 complex is seted up to the side of knob 803.
When the angle adjusting unit is actually used, the adjusting knob 803 is turned, the adjusting knob 803 is moved in the direction of the threaded rod 801, the second clamping plate 809 is driven to move in the first clamping groove 810, the third connecting plate 13 is driven to rotate around the second rotating shaft 805, and the angle of the clamping object can be adjusted.
With reference to fig. 3, 5, 7 and 8, the clamping assembly comprises: the left adjusting rod piece is connected with the third connecting plate 13 in a sliding way through a spacing adjusting unit, and the right adjusting rod piece is fixedly connected with the third connecting plate 13; the clamping plate 9, the clamping plate 9 is fixedly connected with the adjusting rod piece through a third connecting rod 806.
The adjusting lever includes: the inner rod 101 is adjusted, an outer adjusting rod 102 is sleeved on the outer side of the inner adjusting rod 101, a second clamping groove 103 is formed in the inner adjusting rod 101, two clamping balls 104 are symmetrically arranged in the second clamping groove 103, the two clamping balls 104 are connected through springs 105 for providing elasticity, and a plurality of clamping holes 106 matched with the clamping balls 104 are uniformly distributed on the outer adjusting rod 102.
The pitch adjustment unit includes: the fifth connecting plate 111, the fifth connecting plate 111 with the left side adjust interior pole 101 fixed connection, set up on the third connecting plate 13 with the left side adjust interior pole 101 complex third joint groove 112, the threaded connection has the second to adjust the threaded pin 113 on the fifth connecting plate 111, set up the second screw hole 114 of array distribution with the cooperation of second adjusting the threaded pin 113 on the third connecting plate 13.
The side of the clamping plate 9 is fixedly connected with a plurality of clamping heads 12 distributed in an array.
When the clamping assembly is actually used, the clamping ball 104 is pressed according to the size of an object, the clamping ball 104 is clamped in the clamping hole 106 at the corresponding position, the length of the adjusting inner rod 101 extending out of the adjusting outer rod 102 is adjusted, then the adjusting inner rod passes through the fifth connecting plate 111, the second adjusting threaded pin 113 is connected with the second threaded hole 114 at the corresponding position, the distance between the two clamping plates 9 is adjusted, and the objects with different sizes are clamped conveniently.
In summary, the utility model provides a multi-axis swing arm manipulator, which is characterized in that the height of clamping is adjusted through a height adjusting unit, objects in all directions can be clamped through the arrangement of a rotating unit, objects can be conveniently clamped through the arrangement of a horizontal adjusting unit which can move in the horizontal direction, objects in different angles can be clamped and fixed through the arrangement of an angle adjusting unit, and objects in different sizes can be stably clamped through the arrangement of a clamping assembly; the height adjusting motor 501 rotates to drive the reciprocating screw rod 502 to rotate, and then drives the reciprocating slide block 503 to move up and down in the vertical direction, so as to adjust the clamping height of the whole object; the rotary adjusting plate 601 rotates the second connecting plate 3, then the first adjusting threaded pin 602 penetrates through the rotary adjusting plate 601 to be connected with the first threaded hole 603 at the corresponding position, and at the moment, objects in different directions can be clamped; the output end of the horizontal adjusting cylinder 701 drives the first connecting rod 702 to move, so that objects can be clamped at different horizontal positions; the adjusting knob 803 is rotated, the adjusting knob 803 is moved in the direction of the threaded rod 801, the second clamping plate 809 is driven to move in the first clamping groove 810, the third connecting plate 13 is driven to rotate around the second rotating shaft 805, and the angle of the clamping object can be adjusted; according to the size of the object, the clamping ball 104 is pressed, the clamping ball 104 is clamped in the clamping hole 106 at the corresponding position, the length of the adjusting inner rod 101 extending out of the adjusting outer rod 102 is adjusted, then the adjusting inner rod passes through the fifth connecting plate 111, the second adjusting threaded pin 113 is connected with the second threaded hole 114 at the corresponding position, the distance between the two clamping plates 9 is adjusted, and the objects with different sizes are clamped conveniently.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model. It will be apparent that the described embodiments are merely some, but not all, embodiments of the utility model. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the utility model.
Claims (7)
1. The utility model provides a multiaxis swing arm manipulator, includes supporting baseplate, its characterized in that still includes:
the first connecting plate is fixedly connected to the supporting bottom plate, and the first connecting plate and the supporting bottom plate are provided with a height adjusting unit in a matched mode;
the second connecting plate is connected with the height adjusting unit through the rotation adjusting unit, the side face of the second connecting plate is connected with the first adjusting block through the horizontal adjusting unit, the side face of the first adjusting block is connected with the third connecting plate through the angle adjusting unit, and the third connecting plate is provided with a clamping assembly;
the angle adjusting unit includes:
one end of the threaded rod is fixedly connected to the side face of the first adjusting block, and the other end of the threaded rod is rotationally connected with the third connecting plate through the first rotating shaft;
the adjusting knob is in threaded connection with the side face of the threaded rod;
the second connecting rod, one end of the second connecting rod is rotatably connected with the third connecting plate through a second rotating shaft, the other end of the second connecting rod is rotatably connected with the second adjusting block through a third rotating shaft, a second clamping plate is fixedly connected to the side face of the second adjusting block, and a first clamping groove matched with the second clamping plate is formed in the side face of the adjusting knob;
the clamping assembly includes:
the left adjusting rod piece is connected with the third connecting plate in a sliding way through the interval adjusting unit, and the right adjusting rod piece is fixedly connected with the third connecting plate;
the clamping plate is fixedly connected with the adjusting rod piece through a third connecting rod;
the adjusting lever includes:
the inner adjusting rod is sleeved with the outer adjusting rod, a second clamping groove is formed in the inner adjusting rod, two clamping balls are symmetrically arranged in the second clamping groove, the two clamping balls are connected through springs for providing elasticity, and a plurality of clamping holes matched with the clamping balls are uniformly distributed in the outer adjusting rod.
2. The multi-axis swing arm manipulator of claim 1, wherein the height adjustment unit comprises:
the height adjusting motor is fixedly connected to the supporting bottom plate;
the reciprocating screw rod is fixedly connected to the output end of the height adjusting motor;
the reciprocating sliding block is in threaded connection with the side face of the reciprocating screw rod;
the end part of the reciprocating screw rod is rotationally connected to a fourth connecting plate, and the fourth connecting plate is fixedly connected with the first connecting plate.
3. The multi-axis swing arm manipulator of claim 2, wherein the reciprocating slide is cylindrical in shape.
4. The multi-axis swing arm manipulator of claim 2, wherein the rotation adjustment unit comprises:
the rotating adjusting plate is fixedly connected to the side face of the second connecting plate;
the first adjusting threaded pin penetrates through the rotating adjusting plate, and first threaded holes which are distributed in a circumferential array and matched with the first adjusting threaded pin are formed in the side face of the reciprocating sliding block;
the first clamping plate is fixedly connected to the side face of the reciprocating sliding block, and the reciprocating sliding block is connected with the second connecting plate through the first clamping plate.
5. The multi-axis swing arm manipulator of claim 1, wherein the level adjustment unit comprises:
the horizontal adjusting cylinder is fixedly connected to the side face of the second connecting plate;
the first connecting rod is fixedly connected to the output end of the horizontal adjusting cylinder;
the limiting rod penetrates through the first adjusting block and is fixedly connected to the side face of the second connecting plate, and a limiting strip is fixedly connected to the limiting rod.
6. The multi-axis swing arm manipulator of claim 1, wherein the pitch adjustment unit comprises:
the third connecting plate is fixedly connected with the left adjusting inner rod, a third clamping groove matched with the left adjusting inner rod is formed in the third connecting plate, a second adjusting threaded pin is connected to the fifth connecting plate in a threaded mode, and second threaded holes matched with the second adjusting threaded pin are formed in the third connecting plate in an array mode.
7. The multi-axis swing arm manipulator of claim 1, wherein the side of the clamping plate is fixedly connected with a plurality of clamping heads distributed in an array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210500539.8A CN114603582B (en) | 2022-05-10 | 2022-05-10 | Multi-axis swing arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210500539.8A CN114603582B (en) | 2022-05-10 | 2022-05-10 | Multi-axis swing arm manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114603582A CN114603582A (en) | 2022-06-10 |
| CN114603582B true CN114603582B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210500539.8A Active CN114603582B (en) | 2022-05-10 | 2022-05-10 | Multi-axis swing arm manipulator |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106821502A (en) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | A kind of urological surgery Special operation mechanism |
| CN210161160U (en) * | 2019-06-14 | 2020-03-20 | 宁夏铸峰特殊合金有限公司 | Packaging stacker crane with four-thread clamping manipulator |
| CN210790970U (en) * | 2019-09-26 | 2020-06-19 | 云南创盛智能设备有限公司 | Multifunctional manipulator |
| CN213829002U (en) * | 2020-09-08 | 2021-07-30 | 宁波嘉怡机器人有限公司 | Manipulator mounting fixture of angularly adjustable |
| CN113370174A (en) * | 2021-06-16 | 2021-09-10 | 温州职业技术学院 | Transformer mechanical arm |
| CN214772133U (en) * | 2021-01-22 | 2021-11-19 | 安徽鲲鹏装备模具制造有限公司 | Sucking disc manipulator with quick sucking disc location |
| WO2022077616A1 (en) * | 2020-10-15 | 2022-04-21 | 苏州赛亚智能技术有限公司 | Automatic material carrying claw mechanism |
-
2022
- 2022-05-10 CN CN202210500539.8A patent/CN114603582B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821502A (en) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | A kind of urological surgery Special operation mechanism |
| CN210161160U (en) * | 2019-06-14 | 2020-03-20 | 宁夏铸峰特殊合金有限公司 | Packaging stacker crane with four-thread clamping manipulator |
| CN210790970U (en) * | 2019-09-26 | 2020-06-19 | 云南创盛智能设备有限公司 | Multifunctional manipulator |
| CN213829002U (en) * | 2020-09-08 | 2021-07-30 | 宁波嘉怡机器人有限公司 | Manipulator mounting fixture of angularly adjustable |
| WO2022077616A1 (en) * | 2020-10-15 | 2022-04-21 | 苏州赛亚智能技术有限公司 | Automatic material carrying claw mechanism |
| CN214772133U (en) * | 2021-01-22 | 2021-11-19 | 安徽鲲鹏装备模具制造有限公司 | Sucking disc manipulator with quick sucking disc location |
| CN113370174A (en) * | 2021-06-16 | 2021-09-10 | 温州职业技术学院 | Transformer mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114603582A (en) | 2022-06-10 |
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