CN115091506B - Balancing device for industrial robot - Google Patents
Balancing device for industrial robot Download PDFInfo
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- CN115091506B CN115091506B CN202210931504.XA CN202210931504A CN115091506B CN 115091506 B CN115091506 B CN 115091506B CN 202210931504 A CN202210931504 A CN 202210931504A CN 115091506 B CN115091506 B CN 115091506B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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Abstract
The invention discloses a balancing device for an industrial robot, which comprises a fixed base, wherein height rods are fixedly arranged at four corners of the top end of the fixed base, lifting tables are connected among the four height rods in a sliding manner, a displacement groove is formed in one side of the top end of each lifting table, a threaded column is rotatably connected inside each displacement groove, a direction mechanism is arranged in the middle of the threaded column, an installation mechanism is fixedly arranged on one side of each angle mechanism, each direction mechanism comprises a displacement block, a direction table, a rotating motor and a direction rod, and each angle mechanism comprises an angle seat, an angle arm, a movable block and a balancing cylinder.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a balancing device for an industrial robot.
Background
Industrial robots are important automation equipment in modern manufacturing industry integrating multiple disciplines of advanced technologies such as machinery, electronics, control, computers, sensors and artificial intelligence, and become highly new technology industries which are well appreciated, and are widely applied to manufacturing industry as main automation equipment in modern manufacturing industry, and are also important marks for measuring comprehensive strength of manufacturing industry. The replacement of human labor by machines is a big trend in the future.
The rising of human cost is undoubtedly the important factor that promotes each trade robot and trade people, and industrial robot replaces artificial production can save more and more high cost of labor, and industrial robot can realize 24 hours of operation, only needs alone to watch or alone watch two or more industrial robot simultaneously, can effectively practice thrift the human resource cost. In addition, the intelligent factory of the industrial robot is used, the production mode of an automatic assembly line can save the field, the planning of the factory is more compact, the land resource cost is saved, in the process of traditional enterprise production, although a plurality of rules and regulations exist, workers can not be executed thoroughly in the executing process, the phenomenon that the workers are lazy is difficult to avoid is difficult to be avoided, the enterprise is difficult to ensure the productivity and the yield every day for a long time, the industrial robot is used, a large amount of labor is reduced, the management of the workers by the enterprise is simpler and more efficient, the intelligent industrial robot is used for production, the safety of worker work can be guaranteed to the maximum extent, safety accidents caused by negligence or fatigue in work can not occur, in an industrial production workshop with high repeatability, the human workers are easy to have physical fatigue, the safety accidents can be caused, the industrial robot can ensure the safety of the industrial robot, in the future, in the industry, the industrial robot can bear more and more work, the trend of intelligentization and automation can lead the industrial robot to change the traditional production operation mode, the production automation of the production automation is realized by introducing the industrial robot, the production efficiency is further improved, the intelligent adjustment of the industrial structure is promoted, the load balancing of the industrial robot, and the joint is generally increased, and the joint is generally, and the industrial robot is generally, the load balancing device is avoided.
However, the conventional balancing device has limitations on balancing the joints of the industrial robot, so that the joints of the industrial robot connected with the conventional balancing device cannot be flexibly operated, and the flexibility of the industrial robot is reduced.
Disclosure of Invention
The invention aims to provide a balancing device for an industrial robot, which aims to solve the problems that the traditional balancing device provided in the background technology has limitation on balancing processing of joints of the industrial robot, so that the joints of the industrial robot connected with the balancing device cannot be flexibly operated, and the flexibility of the industrial robot is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a balancing unit for industrial robot, includes unable adjustment base, the equal fixed mounting in four corners on unable adjustment base top has high pole, four sliding connection has the elevating platform between the high pole, the displacement groove has been seted up to one side on elevating platform top, the inside rotation in displacement groove is connected with the screw thread post, the middle part of screw thread post is equipped with direction mechanism, direction mechanism's top fixed mounting has angle mechanism, one side fixed mounting of angle mechanism has installation mechanism, direction mechanism includes displacement piece, direction platform, rotating electrical machines and direction pole, angle mechanism includes angle seat, angle arm, movable block and balancing cylinder, and servo motor circular telegram back starts, and servo motor drives the screw thread post and rotates, and the screw thread on screw thread post surface matches each other with the screw thread of displacement piece inner wall, and the displacement piece receives the displacement groove spacing that matches each other with its shape size, so the displacement piece takes place to slide along the screw thread post, adjusts the position of the industrial robot joint of balancing unit installation.
As a preferred technical solution of the present invention, a rotating motor is fixedly mounted in the middle of the top end of the displacement block, a direction table is fixedly mounted at an output end of the rotating motor, a direction groove is formed in the surface of the displacement block, a direction rod slidably connected to the direction groove is fixedly mounted on one side of the bottom end of the direction table, the rotating motor is started after being energized, the rotating motor drives the direction table to rotate, the direction of the joint of the industrial robot mounted on the balancing device is adjusted, and the direction rod is driven to slide along the direction groove in the rotation process of the direction table, so that the stability of the rotation of the direction table is improved.
As a preferable technical scheme of the invention, the middle part of the displacement block is in threaded connection with the middle part of the threaded column, the displacement block is in sliding connection with the displacement groove, and the direction mechanism is arranged on the threaded column through the displacement block.
As a preferred technical scheme of the invention, the inside of the angle seat is rotatably connected with an angle arm, the bottom end of the angle arm is provided with a movable groove, the inside of the movable groove is slidably connected with a movable block, the movable end of the balance cylinder is rotatably connected with one side adjacent to the movable block, when pressure oil enters from a rodless cavity of the balance cylinder, the effective area of a piston is the largest, a cylinder barrel of the balance cylinder begins to extend, the balance cylinder performs telescopic motion, the balance cylinder pushes the movable block from one side to enable the movable block to slide along the movable groove, and in the sliding process of the movable block, the angle arm is subjected to angle deflection along the angle seat under the driving force of the movable block, so as to adjust the angle of the clamped industrial robot joint.
As a preferred technical scheme of the invention, the bottom end of the angle seat and the fixed end of the balance cylinder are fixedly connected with the top end of the direction table, and the angle mechanism is arranged on the direction table through the angle seat and the balance cylinder.
According to a preferred technical scheme of the invention, the mounting mechanism comprises a pushing cylinder, a mounting shell, two sliding rods, two sliding blocks, two clamping plates with rubber and a pushing plate, the mounting shell is fixedly mounted in the middle of the pushing cylinder, the sliding rods are slidably connected to two sides of the mounting shell, the sliding blocks located in the mounting shell are fixedly mounted at opposite ends of the two sliding rods, pushing grooves are formed in opposite sides of the two sliding blocks, the pushing plate is slidably connected between the two pushing grooves, one ends of the two sliding blocks penetrate through the mounting shell and are fixedly mounted with the clamping plates with rubber, one side of the pushing plate is fixedly connected with a movable end of the pushing cylinder, the pushing cylinder is powered on and opened, compressed air is input into the pushing cylinder, the pushing piston reciprocates in a pushing cylinder barrel, the pushing cylinder performs telescopic motion, the pushing cylinder pushes the pushing plate from one side, the pushing plate slides along the pushing grooves, the two sliding blocks slide relatively in the mounting shell under the pushing force of the pushing plate, the sliding rods slide correspondingly along the mounting shell, the clamping plates with rubber are synchronously moved in the sliding process of the sliding blocks, and the industrial robot joints are mounted on two sides of the mounting mechanism from the rubber.
As a preferable technical scheme of the invention, the fixed end of the pushing cylinder is fixedly connected with one side adjacent to the angle arm, and the mounting mechanism is mounted on one side of the angle arm through the pushing cylinder.
As a preferred technical scheme of the present invention, the top ends of the four height rods are all fixedly provided with a baffle, one side of the lifting platform is fixedly provided with a servo motor, the output end of the servo motor passes through the lifting platform and is fixedly connected with one end adjacent to the threaded column, the middle part of the top end of the fixed base is fixedly provided with a lifting cylinder, the movable end of the lifting cylinder is fixedly connected with the middle part of the bottom end of the lifting platform, a solenoid valve on the lifting cylinder is opened, compressed air is input into the lifting cylinder to push a piston to reciprocate in a lifting cylinder barrel, the lifting cylinder performs telescopic motion, the lifting cylinder pushes upwards from the bottom of the lifting platform to enable the lifting platform to slide along the height rods, the top of the height rods are limited by the baffle, and the bottom of the height rods are limited by the fixed base, so that the lifting platform slides between the fixed base and the baffle along the height rods.
Compared with the prior art, the invention has the beneficial effects that:
1. by arranging the lifting cylinder, the height rod and the lifting platform, in the telescopic process of the lifting cylinder, the lifting cylinder drives the lifting platform to slide along the height rod from one side, so that the height of the joint of the industrial robot connected with the balancing device is indirectly adjusted;
2. by arranging the angle mechanism, the balance cylinder performs telescopic motion by injecting hydraulic oil, the balance cylinder pushes the movable block from one side, the movable block pushes the angle arm from one side in the sliding process along the movable groove, and the angle arm deflects along the angle seat to adjust the angle of the joint of the industrial robot connected with the balance device;
3. through the arrangement of the threaded column and the displacement block, the displacement block slides along the threaded column in the rotating process of the threaded column, and the position of the joint angle of the industrial robot connected with the balancing device is indirectly adjusted;
4. by arranging the direction mechanism, the rotating motor drives the direction table to rotate, and the direction table drives the direction rod to slide along the direction groove when rotating, so that the rotating stability of the direction table is improved, and the direction of the joint angle of the industrial robot connected with the balancing device is adjusted;
5. through setting up lift cylinder, high pole, elevating platform, angle mechanism, screw thread post, displacement piece and direction mechanism, nimble carry out height, angle, position and direction to the industrial robot joint that links to each other with balancing unit and adjust, the industrial robot joint department that links to each other with it is nimble to be operated, has improved industrial robot self's flexibility ratio.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is an internal schematic view of the present invention;
FIG. 3 is a side view of the steering mechanism of the present invention;
FIG. 4 is a schematic view of the angle mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the mounting mechanism of the present invention.
In the figure: 1. a fixed base; 2. a servo motor; 3. an angle mechanism; 31. an angle seat; 32. an angle arm; 33. a movable groove; 34. a movable block; 35. a balancing cylinder; 4. an installation mechanism; 41. a push cylinder; 42. mounting a shell; 43. a slide lever; 44. a sliding block; 45. a rubber splint is arranged; 46. a push groove; 47. a push plate; 5. a direction mechanism; 51. a displacement block; 52. a directional groove; 53. a direction table; 54. a rotating electric machine; 55. a steering column; 6. a lifting platform; 7. a height bar; 8. a lifting cylinder; 9. a threaded post; 10. a displacement slot; 11. and a baffle plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-5, the invention provides a balancing device for an industrial robot, which comprises a fixed base 1, wherein height rods 7 are fixedly installed on four corners of the top end of the fixed base 1, a lifting table 6 is connected among the four height rods 7 in a sliding manner, a displacement groove 10 is formed in one side of the top end of the lifting table 6, a threaded column 9 is rotatably connected inside the displacement groove 10, a direction mechanism 5 is arranged in the middle of the threaded column 9, an angle mechanism 3 is fixedly installed at the top end of the direction mechanism 5, an installation mechanism 4 is fixedly installed on one side of the angle mechanism 3, the direction mechanism 5 comprises a displacement block 51, a direction table 53, a rotating motor 54 and a direction rod 55, the angle mechanism 3 comprises an angle seat 31, an angle arm 32, a movable block 34 and a balancing cylinder 35, the servo motor 2 is started after being powered on, the servo motor 2 drives the threaded column 9 to rotate, threads on the surface of the threaded column 9 are matched with threads on the inner wall of the displacement block 51, and the displacement block 51 is limited by the displacement groove 10 matched with the shape and size, so that the displacement block 51 slides along the threaded column 9 to adjust the position of a joint of the industrial robot installed on the balancing device.
The middle part fixed mounting on displacement piece 51 top has rotating electrical machines 54, rotating electrical machines 54's output end fixed mounting has direction platform 53, direction groove 52 has been seted up on displacement piece 51's surface, one side fixed mounting of direction platform 53 bottom has direction pole 55 with direction groove 52 sliding connection, rotating electrical machines 54 starts after circular telegram, rotating electrical machines 54 drives direction platform 53 and rotates, adjust the articulated direction of industrial robot of balancing unit installation, direction platform 53 pivoted in-process drives direction pole 55 and takes place to slide along direction groove 52, improve direction platform 53 pivoted stability.
The middle part of the displacement block 51 is in threaded connection with the middle part of the threaded column 9, the displacement block 51 is in sliding connection with the displacement groove 10, and the direction mechanism 5 is installed on the threaded column 9 through the displacement block 51.
The inside rotation of angle seat 31 is connected with angle arm 32, movable groove 33 has been seted up to angle arm 32's bottom, movable groove 33's inside sliding connection has movable block 34, balance cylinder 35's expansion end rotates with one side that movable block 34 is adjacent to be connected, when pressure oil enters from balance cylinder 35 rodless chamber, the piston effective area is the biggest, balance cylinder 35's cylinder begins to stretch out this moment, balance cylinder 35 carries out concertina movement, balance cylinder 35 promotes movable block 34 from one side, make movable block 34 take place to slide along movable groove 33, at the in-process that movable block 34 slided, angle arm 32 receives the thrust of movable block 34 and takes place the angle deflection along angle seat 31, adjust the articulated angle of industrial robot of centre gripping.
The bottom of angle seat 31 and the stiff end of balancing cylinder 35 all with the top fixed connection of direction platform 53, angle mechanism 3 passes through angle seat 31 and balancing cylinder 35 and installs on direction platform 53.
The mounting mechanism 4 comprises a pushing cylinder 41, a mounting shell 42, two sliding rods 43, two sliding blocks 44, two rubber clamping plates 45 and a pushing plate 47, the mounting shell 42 is fixedly mounted in the middle of the pushing cylinder 41, the sliding rods 43 are slidably connected to two sides of the mounting shell 42, the sliding blocks 44 located inside the mounting shell 42 are fixedly mounted at opposite ends of the two sliding rods 43, pushing grooves 46 are formed in opposite sides of the two sliding blocks 44, the pushing plate 47 is slidably connected between the two pushing grooves 46, the rubber clamping plates 45 are fixedly mounted at one ends of the two sliding blocks 44 penetrating through the mounting shell 42, one sides of the pushing plate 47 are fixedly connected with movable ends of the pushing cylinder 41, the electromagnetic valves on the pushing cylinder 41 are opened, compressed air is input into the pushing cylinder 41, a pushing piston reciprocates in the pushing cylinder 41, the pushing cylinder 41 performs telescopic motion, the pushing cylinder 41 pushes the pushing plate 47 from one side, the pushing plate 47 slides along the pushing grooves 46, under the pushing force of the pushing cylinder 47, the two sliding blocks 44 slide relatively in the mounting shell 42, the sliding rods 43 slide along the mounting shell 42, the rubber clamping plates 45 corresponding to the sliding blocks 45 of the robot joint, and the industrial robot joint 4 synchronously slides on the rubber clamping plates 45, and the rubber clamping plates 45.
The fixed end of the pushing cylinder 41 is fixedly connected with one side adjacent to the angle arm 32, and the mounting mechanism 4 is mounted on one side of the angle arm 32 through the pushing cylinder 41.
The equal fixed mounting in top of four high poles 7 has baffle 11, one side fixed mounting of elevating platform 6 has servo motor 2, servo motor 2's output passes elevating platform 6 and the adjacent one end fixed connection of screw post 9, the middle part fixed mounting on 1 top of unable adjustment base has lift cylinder 8, the expansion end of lift cylinder 8 and the middle part fixed connection of 6 bottoms of elevating platform, the solenoid valve is opened on the lift cylinder 8, toward the interior input compressed air of lift cylinder 8, it is reciprocating motion to promote the piston in 8 section of thick bamboos of lift cylinder, lift cylinder 8 carries out concertina movement, lift cylinder 8 upwards promotes from the bottom of elevating platform 6 and makes elevating platform 6 take place to slide along high pole 7, the top of high pole 7 receives baffle 11 spacingly, the bottom of high pole 7 receives unable adjustment base 1 spacing, so elevating platform 6 slides between unable adjustment base 1 and baffle 11 along high pole 7.
When the invention is used: before a worker uses the balancing device, the balancing device needs to be connected with the joint of the industrial robot, the electromagnetic valve on the pushing cylinder 41 is opened, compressed air is input into the pushing cylinder 41, the pushing piston does reciprocating motion in the cylinder of the pushing cylinder 41, the pushing cylinder 41 does telescopic motion, the pushing cylinder 41 pushes the pushing plate 47 from one side, so that the pushing plate 47 slides along the pushing groove 46, under the action of the pushing force of the pushing plate 47, the two sliding blocks 44 slide relatively in the mounting shell 42, at the moment, the sliding rods 43 slide correspondingly along the mounting shell 42, the sliding blocks 44 drive the rubber clamping plates 45 to do synchronous motion in the sliding process, the rubber clamping plates 45 are clamped from two sides of the joint of the industrial robot, so that the joint of the industrial robot is mounted on the mounting shell 4, the electromagnetic valve on the lifting cylinder 8 is opened, and compressed air is input into the lifting cylinder 8, the pushing piston does reciprocating motion in the lifting cylinder 8, the lifting cylinder 8 makes telescopic motion, the lifting cylinder 8 pushes upwards from the bottom of the lifting table 6 to enable the lifting table 6 to slide along the height rod 7, the top of the height rod 7 is limited by the baffle 11, the bottom of the height rod 7 is limited by the fixing base 1, so that the lifting table 6 slides between the fixing base 1 and the baffle 11 along the height rod 7, the height of the joint of the installed industrial robot is adjusted in the sliding process of the lifting table 6, the servo motor 2 is started after being electrified, the servo motor 2 drives the threaded column 9 to rotate, threads on the surface of the threaded column 9 are matched with threads on the inner wall of the displacement block 51, the displacement block 51 is limited by the displacement groove 10 matched with the displacement block in shape and size, so that the displacement block 51 slides along the threaded column 9, and the position of the joint of the industrial robot installed on the balancing device is adjusted, the rotating electrical machines 54 starts after the circular telegram, the rotating electrical machines 54 drives the direction platform 53 to rotate, adjust the articulated direction of industrial robot of balancing unit installation, direction platform 53 pivoted in-process drives direction pole 55 and takes place to slide along direction groove 52, improve direction platform 53 pivoted stability, when pressure oil gets into from the rodless chamber of balancing jar 35, the piston effective area is the biggest, the cylinder of balancing jar 35 begins to stretch out this moment, balancing jar 35 carries out concertina movement, balancing jar 35 promotes movable block 34 from one side, make movable block 34 take place to slide along movable slot 33, at the in-process that movable block 34 slided, angle arm 32 receives the thrust of movable block 34 and takes place the angle deflection along angle seat 31, adjust the articulated angle of industrial robot of centre gripping, industrial robot joint department is nimble to be operated, industrial robot self flexibility ratio has been improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for some of the features thereof, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A balancing device for an industrial robot, comprising a stationary base (1), characterized in that: the automatic adjusting device is characterized in that height rods (7) are fixedly mounted on four corners of the top end of the fixed base (1), four lifting tables (6) are connected between the height rods (7) in a sliding mode, a displacement groove (10) is formed in one side of the top end of the lifting tables (6), a threaded column (9) is connected to the inside of the displacement groove (10) in a rotating mode, a direction mechanism (5) is arranged in the middle of the threaded column (9), an angle mechanism (3) is fixedly mounted on the top end of the direction mechanism (5), an installation mechanism (4) used for clamping two sides of a joint of an industrial robot is fixedly mounted on one side of the angle mechanism (3), the direction mechanism (5) comprises a displacement block (51), a direction table (53), a rotating motor (54) and a direction rod (55), the angle mechanism (3) comprises an angle seat (31), an angle arm (32), a movable block (34) and a balance cylinder (35), a rotating motor (54) is fixedly mounted in the middle of the top end of the displacement block (51), a direction table (53) is mounted at the output of the rotating motor (54), a direction table (52) is arranged on the surface of the displacement block (51), a direction groove (52) is formed in the bottom end of the displacement block (51), the direction table (52), and the sliding rod (55) is connected with the direction rod (51) and the direction rod (55), just displacement piece (51) and displacement groove (10) sliding connection, the inside rotation of angle seat (31) is connected with angle arm (32), movable groove (33) have been seted up to the bottom of angle arm (32), the inside sliding connection of movable groove (33) has movable block (34), the expansion end of balancing cylinder (35) rotates with one side that movable block (34) are adjacent to be connected, the bottom of angle seat (31) and the stiff end of balancing cylinder (35) all with the top fixed connection of direction platform (53).
2. A balancing device for an industrial robot according to claim 1, characterized in that: installation mechanism (4) including push cylinder (41), installation shell (42), two slide pole (43), two gliding pieces (44), two take rubber splint (45) and slurcam (47), the middle part fixed mounting that push cylinder (41) has installation shell (42), the equal sliding connection in both sides of installation shell (42) has gliding pole (43), two the equal fixed mounting of the one end that slides pole (43) is relative has the gliding piece (44) that is located installation shell (42) inside, two promotion groove (46), two have all been seted up to one side that slides piece (44) is relative sliding connection between promotion groove (46) has slurcam (47), two the one end of gliding piece (44) is passed the equal fixed mounting of installation shell (42) and is taken rubber splint (45), the one side of slurcam (47) and the expansion end fixed connection of push cylinder (41).
3. A balancing device for an industrial robot according to claim 2, characterized in that: the fixed end of the pushing cylinder (41) is fixedly connected with one side adjacent to the angle arm (32).
4. A balancing device for an industrial robot according to claim 1, characterized in that: four the equal fixed mounting in top of high pole (7) has baffle (11), one side fixed mounting of elevating platform (6) has servo motor (2), the output of servo motor (2) passes elevating platform (6) and the adjacent one end fixed connection of screw thread post (9), the middle part fixed mounting on unable adjustment base (1) top has lift cylinder (8), the expansion end of lift cylinder (8) and the middle part fixed connection of elevating platform (6) bottom.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931504.XA CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931504.XA CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| CN115091506A CN115091506A (en) | 2022-09-23 |
| CN115091506B true CN115091506B (en) | 2023-01-10 |
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| CN202210931504.XA Active CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| WO2022016930A1 (en) * | 2020-07-21 | 2022-01-27 | 南京昱晟机器人科技有限公司 | Industrial robot connecting base facilitating angle adjustment |
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| CN216992582U (en) * | 2022-03-08 | 2022-07-19 | 常德新永益石材有限公司 | Cutting device is used in building stone processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
| CN109079824A (en) * | 2018-10-19 | 2018-12-25 | 王亮 | A kind of robot that stability is good |
| CN109176124A (en) * | 2018-11-08 | 2019-01-11 | 宁波四九星机电科技有限公司 | A kind of micro- clamping hand of piezoelectric-type flexible drive amplification range-adjustable and its application method |
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| 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 |
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| CN216992582U (en) * | 2022-03-08 | 2022-07-19 | 常德新永益石材有限公司 | Cutting device is used in building stone processing |
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| Publication number | Publication date |
|---|---|
| CN115091506A (en) | 2022-09-23 |
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