CN114986549A - Mechanical robot terminal quick-change device - Google Patents
Mechanical robot terminal quick-change device Download PDFInfo
- Publication number
- CN114986549A CN114986549A CN202210678643.6A CN202210678643A CN114986549A CN 114986549 A CN114986549 A CN 114986549A CN 202210678643 A CN202210678643 A CN 202210678643A CN 114986549 A CN114986549 A CN 114986549A
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- arm
- change device
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a quick-change device for a mechanical robot tail end, relates to the field of quick-change equipment of robots, and aims to solve the problems that the conventional quick-change device for the mechanical robot tail end can only be used for installing one manipulator at the same time, and the installed manipulator needs to be dismantled when other types of manipulators are needed, so that a large amount of working time is wasted; an installation mechanism is arranged in the connecting arm; a tail end center is arranged in the mounting mechanism, and a switching mechanism is arranged above the mounting mechanism; a fixing mechanism; the fixing mechanism is installed on the left side of the switching mechanism. Utilize the position of the manipulator on the regulation change board that the digging arm can be quick, select the manipulator that is fit for work to operate, need wholly demolish the manpower that causes and the waste of time to the manipulator when having avoided needing to change the manipulator that uses, and then improve work efficiency.
Description
Technical Field
The invention belongs to the technical field of robot quick-change equipment, and particularly relates to a mechanical robot tail end quick-change device.
Background
In the work of the modern industrial robot, the robot usually needs to complete various works, and the end effector can be used for quickly executing work tasks such as spot welding guns, grippers, vacuum tools, pneumatic motors and electric motors after the corresponding manipulator is installed on the robot.
Based on the prior art, when the conventional mechanical robot tail end quick-change device is used, only one type of manipulator can be installed at the same time, and when other types of manipulators are needed, the installed manipulator needs to be disassembled, so that the device is very troublesome and wastes a large amount of working time; meanwhile, when the conventional mechanical robot terminal quick-change device is used, a positioning device during switching of a manipulator is not perfect enough, if a program input error causes a large positioning error, the manipulator is easily damaged after the manipulator is started, and even safety accidents can occur.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mechanical robot tail end quick-change device, which aims to solve the problems that when the existing mechanical robot tail end quick-change device is used, only one manipulator can be installed generally, and when other types of manipulators are needed, the installed manipulator needs to be disassembled, so that the operation is very troublesome, and a large amount of working time is wasted; meanwhile, when the conventional mechanical robot terminal quick-change device is used, a positioning device during switching of a manipulator is not perfect enough, if a program input error causes a large positioning error, the manipulator is easily damaged after the manipulator is started, and even safety accidents can occur.
The invention relates to a mechanical robot tail end quick-change device, which is achieved by the following specific technical means:
a mechanical robot end quick-change device comprises:
a connecting arm;
the connecting arm is internally provided with an installation mechanism, and the connecting bottom plate is connected with an installation box body of the installation mechanism through screws; a tail end center is arranged in the mounting mechanism, and a switching mechanism is arranged above the mounting mechanism;
a fixing mechanism; the fixing mechanism is installed on the left side of the switching mechanism, and the fixing plate is connected with a conversion plate of the switching mechanism through screws.
Further, the connecting arm comprises:
the left side of the fixed arm is provided with a rotating shaft;
the screw holes are formed in four corners of the connecting bottom plate, and the connecting bottom plate is connected above the fixed arm through a rotating shaft.
Further, the connecting arm further comprises:
the movable arm is positioned above the fixed arm; a motor is arranged above the movable arm, and a gear is arranged inside the movable arm; a screw hole is formed in the gear of the movable arm, and the gear of the movable arm is meshed with the gear of the motor of the movable arm;
the guide part, the top of guide part is equipped with the screw, and the bearing is installed to the below of guide part, and the guide part inserts inside the screw of digging arm gear to the outside cover of guide part is equipped with the spring.
Further, the installation mechanism includes:
the installation box body, the inside of installation box body has seted up circular through-hole, and the below of installation box body has seted up four screws.
Further, the installation mechanism still includes:
the fixing sleeve is connected to the right side of the mounting box body through a screw;
the driving piece, the driving piece inserts in fixed telescopic inside, and the left side of driving piece is connected with the pivot to the through-hole of installation box is passed to the pivot of driving piece.
Further, the terminal hub comprises:
the upper part of the main body is provided with an annular bulge, and the main body is inserted into the installation box body; the bearing guide device is characterized in that a transverse through hole is formed in the main body, a longitudinal through hole is formed in the main body, and a bearing of the guide piece is inserted into the upper portion of the inner portion of the longitudinal through hole of the main body.
Further, the terminal hub further comprises:
the connecting contact is arranged above the main body, is a metal sheet and is connected with the control center of the main body through a lead;
the locating piece, the below of locating piece is equipped with the screw thread, and two locating pieces are installed in the top of main part.
Further, the switching mechanism includes:
the conversion plate is arranged above the main body, and mounting grooves are formed in the left side and the right side of the conversion plate; t-shaped through holes are formed in the conversion plate, and four rectangular clamping grooves which are circumferentially arranged are formed in the periphery of the T-shaped through holes of the conversion plate.
Further, the switching mechanism further comprises:
the four positioning grooves are arranged in a matrix in the conversion plate;
and a connection electrode connected below the conversion plate.
Further, the fixing mechanism includes:
the fixed plate is inserted into the mounting groove of the conversion plate;
and the connecting interface is arranged on the right side of the fixing plate through a screw.
Compared with the prior art, the invention has the following beneficial effects:
1. in the device, a connecting arm is arranged, the right side of the connecting arm is connected with a mechanical arm of an operating device, a transmission gear of a motor inside the movable arm is meshed with a gear inside the movable arm, the motor can drive the gear to rotate when rotating, the movable arm moves up and down through the meshing of threads inside the gear and a guide piece, so that a spring sleeved outside the guide piece is compressed, and a conversion plate is locked or unlocked; meanwhile, the fixed arm is connected with the connecting bottom plate through the rotating shaft, the device can rotate and finely adjust within a certain angle by using the mechanism, meanwhile, the position of the manipulator on the conversion plate can be quickly adjusted by using the movable arm, and the manipulator suitable for working is selected for operation, so that the waste of manpower and time caused by the fact that the whole manipulator needs to be dismantled when the used manipulator needs to be replaced is avoided, and further the working efficiency is improved;
2. the device is provided with a switching mechanism and a fixing mechanism, a switching plate is used for installing a mechanical arm through a screw hole on the outer side, a connecting interface installed in a fixing plate is used for connecting a control assembly of the device with the mechanical arm, when a movable arm rises and a spring on the outer side of a guide piece is unlocked, the switching plate is manually or electrically rotated, the mechanical arm positioned on a working position can be adjusted, the fixed position of the switching plate is determined through a positioning groove and a positioning piece, after the position is adjusted, the movable arm locks the switching plate, then if the position of the switching plate is correct, a connecting electrode can be bounced into a groove where the connecting contact is positioned, meanwhile, the connecting electrode is in contact with the connecting contact, power is supplied to the mechanical arm, otherwise, the position of the switching plate is wrong, and the mechanical arm cannot be switched on; can install four manipulators through switching mechanism with this and satisfy the demand to different manipulators in the different work, ensure simultaneously when changing the manipulator, the manipulator can be the exact operating position, prevent that the manipulator from leading to damaging because of the dislocation, and then promoted the holistic security performance of device.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a perspective rear view structure diagram of the present invention.
Fig. 3 is a schematic diagram of the explosive structure of the present invention.
FIG. 4 is a perspective cross-sectional view of the mounting mechanism and end hub of the present invention.
Fig. 5 is a schematic perspective cross-sectional view of the switching mechanism of the present invention.
Fig. 6 is a schematic structural view of the fixing mechanism of the present invention.
Fig. 7 is a partially enlarged structural view at a shown in fig. 4 according to the present invention.
Fig. 8 is a partial enlarged structural view at B of fig. 5 according to the present invention.
In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a connecting arm; 101. a fixed arm; 102. connecting the bottom plate; 103. a movable arm; 104. a guide member;
2. an installation mechanism; 201. installing a box body; 202. fixing the sleeve; 203. a drive member;
3. a terminal hub; 301. a main body; 302. connecting the contacts; 303. a positioning member;
4. a switching mechanism; 401. a conversion plate; 402. positioning a groove; 403. connecting the electrodes;
5. a fixing mechanism; 501. a fixing plate; 502. and connecting the interface.
Detailed Description
Embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as shown in figures 1 to 8:
the invention provides a mechanical robot tail end quick-changing device, which comprises: a connecting arm 1; the connecting arm 1 is internally provided with an installation mechanism 2, and the connecting bottom plate 102 is connected with an installation box body 201 of the installation mechanism 2 through screws; a tail end center 3 is arranged in the mounting mechanism 2, and a switching mechanism 4 is arranged above the mounting mechanism 2; a fixing mechanism 5; the fixing mechanism 5 is installed at the left side of the switching mechanism 4, and the fixing plate 501 is connected to the conversion plate 401 of the switching mechanism 4 by a screw.
As shown in fig. 3, the connecting arm 1 includes: the right side of the fixed arm 101 is connected with a mechanical arm outside the device, and the left side of the fixed arm 101 is provided with a rotating shaft; the connecting base plate 102 is of a plate-shaped structure, screw holes are formed in four corners of the connecting base plate 102, and the connecting base plate 102 is connected to the upper portion of the fixing arm 101 through a rotating shaft; the connecting base plate 102 is used for fixing the mounting mechanism 2, and the mounting mechanism 2 and the connecting mechanism thereof can rotate in a certain angle under the driving of the rotating shaft of the fixing arm 101; the right side of the movable arm 103 is connected with a mechanical arm outside the device in a sliding manner, and the movable arm 103 is positioned above the fixed arm 101; a motor is arranged above the movable arm 103, and a gear is arranged inside the movable arm 103; a screw hole is formed in the gear of the movable arm 103, and the gear of the movable arm 103 is meshed with the gear of the motor of the movable arm 103; the movable arm 103 drives a gear to rotate through a motor, and the movable arm 103 is lifted or lowered through the guide piece 104; the guide 104 is of a columnar structure, threads are arranged above the guide 104, a bearing is arranged below the guide 104, the guide 104 is inserted into a screw hole of the gear of the movable arm 103, and a spring is sleeved outside the guide 104; the guide 104 is compressed or released by the movable arm 103 when the movable arm 103 is moved, thereby pressing and releasing the switch plate 401.
As shown in fig. 4, the mounting mechanism 2 includes: the installation box body 201 is of a circular structure, a circular through hole is formed in the installation box body 201, and four screw holes are formed below the installation box body 201; the mounting box 201 is used for mounting the terminal pivot 3; the fixing sleeve 202, the fixing sleeve 202 is an oval structure, the left side of the fixing sleeve 202 is provided with a plate-shaped bulge, and the fixing sleeve 202 is connected to the right side of the installation box 201 through a screw; the fixed sleeve 202 is used for installing the fixed driving piece 203; the driving part 203, the driving part 203 is a stepping motor, the driving part 203 is inserted into the fixed sleeve 202, the left side of the driving part 203 is connected with a rotating shaft, and the rotating shaft of the driving part 203 passes through the through hole of the installation box 201; when the device is used, the driving part 203 can drive the rotary manipulator to match with the four-function manipulator installed on the switching mechanism 4, so that the device can realize more functions without detaching and replacing the manipulator.
As shown in fig. 4, the terminal hub 3 includes: a main body 301, wherein an annular bulge is arranged above the main body 301, and the main body 301 is inserted into the installation box 201; a transverse through hole is formed in the main body 301, a longitudinal through hole is formed in the main body 301, and a bearing of the guide piece 104 is inserted above the inner part of the longitudinal through hole of the main body 301; the main body 301 is used for installing other parts of the tail end pivot 3, and a rotating shaft of a driving piece is inserted into a transverse through hole of the main body 301; a circuit board and a control center are arranged in the main body 301, and motion signals are transmitted to a mechanical arm arranged on the device through wires; the bearing of the guide 104 is fixed inside the main body 301 by four movable fastening screws, and the whole device is fixed inside the connecting arm 1 by matching with the connecting bottom plate 102; the connecting contact 302, the connecting contact 302 is a rectangular structure, the connecting contact 302 is arranged above the main body 301, the connecting contact 302 is a metal sheet, and the connecting contact 302 is connected with the control center of the main body 301 through a lead; the connecting contact 302 is used for controlling the power supply of the device, and after the connecting electrode 403 is contacted with the connecting contact 302, the power supply of the whole device is switched on so that the device can normally operate; the positioning pieces 303, the positioning pieces 303 are conical structures, threads are arranged below the positioning pieces 303, and the two positioning pieces 303 are arranged above the main body 301; the positioning member 303 is used to assist the switching mechanism 4 to align with the terminal hub 3, so as to prevent the switching mechanism 4 from being misaligned when switching the robot, which may result in an accident during the operation.
As shown in fig. 5, the switching mechanism 4 includes: the conversion plate 401 is of a rectangular plate-shaped structure, the conversion plate 401 is installed above the main body 3011, and mounting grooves are formed in the left side and the right side of the conversion plate 401; a T-shaped through hole is formed in the conversion plate 401, and four rectangular clamping grooves which are circumferentially arranged are formed in the periphery of the T-shaped through hole of the conversion plate 401; the conversion board 401 can move upwards when the movable arm moves upwards to loosen the spring, and the corresponding manipulator connected to the fixing mechanism 5 can be adjusted to a working position after rotation, so that the manipulator can be replaced without disassembling the device; a positioning groove 402, wherein the positioning groove 402 is of a circular structure, and four positioning grooves 402 are arranged in a matrix manner inside the conversion plate 401; the positioning piece 303 is inserted into the positioning groove 402, so that when the manipulator of the conversion plate 401 is replaced, the conversion plate 401 is ensured to be installed in place, the manipulator can correctly reach a working position, and dislocation is prevented; a connection electrode 403, the connection electrode 403 having a rectangular structure, the connection electrode 403 being connected below the conversion plate 401; when the position of the conversion plate 401 is correct, the connection electrode 403 springs into the groove where the connection contact 302 is located under the action of the spring to communicate with the connection contact 302, and then power is supplied to the manipulator, so that the positioning member 303 is matched to ensure the position of the conversion plate 401, and the manipulator is prevented from starting to work when not reaching the working position correctly.
As shown in fig. 6, the fixing mechanism 5 includes: a fixing plate 501, wherein the fixing plate 501 is of a U-shaped structure, and the fixing plate 501 is inserted into the mounting groove of the conversion plate 401; the connecting interface 502 is arranged on the right side of the fixing plate 501 through screws; the connection interface 502 selects a corresponding interface according to a wire used by the manipulator, and after the manipulator is mounted on the conversion board 401, the manipulator is connected with the control center inside the main body 301 through the connection interface 502, and then the control center of the main body 301 is connected with the control assembly of the whole device.
When in use: the fixed arm 101 is fixedly connected with an external mechanical arm, the movable arm 103 is connected with the external mechanical arm in a sliding manner, the fixed arm 101 is connected with the connecting bottom plate 102 through a rotating shaft, the box 201 is fixedly installed above the connecting bottom plate 102 through screws, the tail end hub 3 is installed inside the installing box 201, the driving piece 203 is inserted into a transverse through hole of the main body 301 and is fixed through the fixing sleeve 202, the conversion plate 401 is installed above the main body 301, the bearing of the guide piece 104 is inserted into a longitudinal through hole of the main body 301 and is fixed through the screws, four clamping grooves of the through hole of the conversion plate 401 are clamped outside 4 screws of the fixing bearing, the fixed plate 501 is installed outside the positioning groove 402 through the screws and is connected with the connecting interface 502 and the fixed plate 501, and finally, a mechanical arm required to be used in work is installed outside the conversion plate 401 through the screws, the manipulator is connected with a control assembly of the device through a connecting interface 502, when the manipulator needs to be replaced, a driving motor of the movable arm 103 is started, the movable arm moves upwards, a spring on the outer side of the guide piece 104 is loosened, the conversion plate 401 is unlocked, the conversion plate 401 is manually or electrically rotated, the manipulator to be used is adjusted to a working position, the positioning piece 303 is inserted into the positioning groove 402, the conversion plate 401 is locked through the spring on the outer side of the guide piece 104, after the position of the conversion plate 401 is determined, if the position is correct, the connecting electrode 403 can be bounced into a groove where the connecting contact 302 is located and is communicated with the connecting contact 302 to supply power to the manipulator on the conversion plate 401, and the device normally operates, so that the manipulator can be replaced on the premise of not disassembling the manipulator by using the device, the waste of time in work is avoided, and meanwhile, the circuit protection is realized through two locking modes, the manipulator is ensured to work only when the manipulator reaches the working position, the damage of the manipulator is avoided, and the safety accident is prevented.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. The utility model provides a terminal quick change device of mechanical type robot which characterized in that includes:
a connecting arm (1);
the connecting arm (1) is internally provided with an installation mechanism (2), and the connecting bottom plate (102) is connected with an installation box body (201) of the installation mechanism (2) through a screw; a tail end center (3) is installed inside the installation mechanism (2), and a switching mechanism (4) is installed above the installation mechanism (2);
a fixing mechanism (5); the fixing mechanism (5) is installed on the left side of the switching mechanism (4), and the fixing plate (501) is connected with a conversion plate (401) of the switching mechanism (4) through screws.
2. The mechanical robot tip quick-change device according to claim 1, characterized in that the connecting arm (1) comprises:
the left side of the fixed arm (101) is provided with a rotating shaft;
the connecting base plate (102) is provided with screw holes at four corners of the connecting base plate (102), and the connecting base plate (102) is connected above the fixing arm (101) through a rotating shaft.
3. The mechanical robot tip quick-change device according to claim 2, characterized in that the connecting arm (1) further comprises:
the movable arm (103), the movable arm (103) is positioned above the fixed arm (101); a motor is arranged above the movable arm (103), and a gear is arranged inside the movable arm (103); a screw hole is formed in the gear of the movable arm (103), and the gear of the movable arm (103) is meshed with the gear of the motor of the movable arm (103);
the guide arm structure comprises a guide piece (104), wherein threads are arranged above the guide piece (104), a bearing is arranged below the guide piece (104), the guide piece (104) is inserted into a screw hole of a gear of the movable arm (103), and a spring is sleeved on the outer side of the guide piece (104).
4. The mechanical robot tip quick-change device according to claim 1, wherein the mounting mechanism (2) comprises:
the installation box body (201), circular through-hole has been seted up to the inside of installation box body (201), and four screws have been seted up to the below of installation box body (201).
5. The mechanical robotic end quick-change device according to claim 4, wherein said mounting mechanism (2) further comprises:
the fixing sleeve (202), the fixing sleeve (202) is connected to the right side of the installation box body (201) through the screw;
the driving piece (203), the driving piece (203) inserts in the inside of fixed sleeve (202), and the left side of driving piece (203) is connected with the pivot, and the pivot of driving piece (203) passes the through-hole of installation box (201).
6. The mechanical robot tip quick-change device according to claim 1, characterized in that the tip hub (3) comprises:
the main body (301), the upper part of the main body (301) is provided with an annular bulge, and the main body (301) is inserted into the installation box body (201); the bearing guide device is characterized in that a transverse through hole is formed in the main body (301), a longitudinal through hole is formed in the main body (301), and a bearing of the guide piece (104) is inserted into the upper portion of the inner portion of the longitudinal through hole of the main body (301).
7. The mechanical robot tip quick-change device according to claim 6, characterized in that the tip hub (3) further comprises:
the connecting contact (302), the connecting contact (302) is set up above the body 301, and the connecting contact (302) is a foil, and the connecting contact (302) is connected with the control center of the body 301 through the wire;
the positioning device comprises positioning pieces (303), wherein threads are arranged below the positioning pieces (303), and the two positioning pieces (303) are arranged above the main body (301).
8. The mechanical robot tip quick-change device according to claim 1, wherein the switching mechanism 4 comprises:
the conversion plate (401) is arranged above the main body (301)1, and mounting grooves are formed in the left side and the right side of the conversion plate (401); t-shaped through holes are formed in the conversion plate (401), and four rectangular clamping grooves which are circumferentially arranged are formed in the periphery of the T-shaped through holes of the conversion plate (401).
9. The mechanical robot tip quick-change device according to claim 8, wherein the switching mechanism (4) further comprises:
the four positioning grooves (402) are arranged in a matrix in the conversion plate (401);
and a connection electrode (403), wherein the connection electrode (403) is connected below the conversion plate (401).
10. The mechanical robot tip quick-change device according to claim 1, characterized in that the fixing mechanism (5) comprises:
the fixing plate (501), the fixing plate (501) is inserted in the mounting groove of the conversion plate (401);
the connecting interface (502) is installed on the right side of the fixing plate (501) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210678643.6A CN114986549A (en) | 2022-06-16 | 2022-06-16 | Mechanical robot terminal quick-change device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210678643.6A CN114986549A (en) | 2022-06-16 | 2022-06-16 | Mechanical robot terminal quick-change device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114986549A true CN114986549A (en) | 2022-09-02 |
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ID=83035297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210678643.6A Pending CN114986549A (en) | 2022-06-16 | 2022-06-16 | Mechanical robot terminal quick-change device |
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| Country | Link |
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| CN (1) | CN114986549A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
-
2022
- 2022-06-16 CN CN202210678643.6A patent/CN114986549A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN116652994B (en) * | 2023-07-31 | 2023-10-10 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
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