CN212287674U - A snatch mechanism for robotic arm - Google Patents

A snatch mechanism for robotic arm Download PDF

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Publication number
CN212287674U
CN212287674U CN202020858150.7U CN202020858150U CN212287674U CN 212287674 U CN212287674 U CN 212287674U CN 202020858150 U CN202020858150 U CN 202020858150U CN 212287674 U CN212287674 U CN 212287674U
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China
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grabbing
motor
gear
seat
plate
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CN202020858150.7U
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童鑫
夏兴国
朱虹
袁传信
缸明义
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MAANSHAN TECHNICAL COLLEGE
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MAANSHAN TECHNICAL COLLEGE
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Abstract

The utility model discloses a snatch mechanism for robotic arm, grab a year seat including top connection board, spiral board and two, top connection board middle part below is provided with first motor, and rotates through the pivot below and be connected with the spiral board, it all turns over a cover frame through hinged joint to revolve the board both ends, and turns over a cover frame one end below and be provided with the second motor. The utility model has the advantages that: two grab and carry the seat and can snatch the article of difference respectively, improve the capacity volume that should snatch the mechanism and snatch, and first motor drives and grabs and carry the rotatory activity of seat, cooperation second motor drives and hangs dress board movable adjustment, and the pneumatic cylinder promotes through the hydraulic pressure post and turns over the cover frame and grab and carry a upset regulation, third motor rethread first gear and transmission track drive second gear and grab and carry a seat rotation regulation, on the one hand, very big improvement should snatch the scope that should grab and carry the seat on the mechanism and can the movable adjustment, on the other hand, very big improvement grab and carry the accurate and the efficiency that the seat snatched the article.

Description

A snatch mechanism for robotic arm
Technical Field
The utility model relates to a snatch the mechanism, specifically be a snatch mechanism for robotic arm belongs to the mechanism application technology field that snatchs that is used for robotic arm.
Background
In the production and processing workshop of a factory, the mechanical arms are used more and more, the mechanical arms are matched with the grabbing mechanisms at the end parts of the mechanical arms to finish automatic grabbing, moving and placing work on processed objects, and the efficiency of the objects to be produced and processed is improved.
The existing grabbing mechanism for the mechanical arm still has many defects when in use, the existing grabbing mechanism for the mechanical arm can only grab one object to operate, the grabbing capacity of the grabbing mechanism for the object is low, the grabbing component on the existing grabbing mechanism can be movably adjusted in a small range, the grabbing mechanism is poor in object grabbing precision and low in efficiency, after the grabbing mechanism grabs the object, the position of the grabbed object cannot be flexibly adjusted, and the efficiency and the precision of processing, moving or placing the object are greatly influenced.
Disclosure of Invention
The utility model aims to solve the problems that the prior grabbing mechanism for the mechanical arm can only grab one object to operate at the same time, and the grabbing capacity of the grabbing mechanism for the object is low; the movable adjustment range of the grabbing components on the existing grabbing mechanism is small; the grabbing mechanism has poor object grabbing precision and low efficiency; the grabbing mechanism can not flexibly adjust the position of the grabbed object after the object is grabbed by the grabbing mechanism, and the problem that the efficiency and the precision of the object to be processed, moved or placed are greatly influenced is solved, so that the grabbing mechanism for the mechanical arm is provided.
The purpose of the utility model can be realized by the following technical scheme: a grabbing mechanism for a mechanical arm comprises a jacking plate, a rotating plate and two grabbing and carrying seats, wherein a first motor is arranged below the middle of the jacking plate, the rotating plate is rotatably connected below the first motor through a rotating shaft, two ends of the rotating plate are respectively connected with a turning sleeve frame through hinges, a second motor is arranged below one end of the turning sleeve frame, a hanging plate is arranged below the second motor, a third motor is arranged at the upper end of the side wall of the hanging plate, one end of the third motor is rotatably connected with a first gear through the rotating shaft, a transmission crawler belt is sleeved on the first gear, a connecting shaft of a cylindrical structure is sleeved below the hanging plate through a bearing, a second gear is arranged at one end of the connecting shaft, the other end of the connecting shaft is provided with the grabbing and carrying seat, a vertical carrying plate is arranged below the middle of the rotating plate, hydraulic cylinders are obliquely arranged on two sides of the vertical carrying plate, two hydraulic cylinders are movably connected with the two turning sleeve frames through hydraulic cylinders respectively, grab and carry the seat and all be provided with two fourth motors in both ends from top to bottom, and grab and rotate through the pivot between two fourth motors of carrying the seat tip and be connected with the sweep, sweep one end below is provided with grabs the briquetting, and grabs the equidistant rubber leather pad that sets up a plurality of cross-section for semi-circular structure of briquetting one end terminal surface, second motor top is rotated through the pivot and is connected with the third gear, it is provided with the hollow storehouse of rolling that is the shape of falling T structure to turn over cover frame middle part top, and rolls storehouse one end inner wall equidistant and set up the bellied hobbing of a plurality of, the third gear is connected to inside rolling the storehouse, and third gear one end is connected with the hobbing meshing.
The utility model discloses a further technological improvement lies in: the jacking plate is equidistantly provided with a plurality of connecting screw holes side by side, and the connecting screw holes are connected through a plurality of connecting screws, so that the butting and mounting of the connecting screw holes and the mechanical arm are facilitated.
The utility model discloses a further technological improvement lies in: the second gear is sleeved below the transmission crawler, and the third motor is rotatably connected with the transmission crawler, the second gear, the connecting shaft and the grabbing and carrying seat through the first gear.
The utility model discloses a further technological improvement lies in: two hydraulic pressure capital portions all are connected to two cover frame bottoms that turn over respectively through the second hinge, the pneumatic cylinder promotes through the hydraulic pressure post and turns over the cover frame and grab and carry a upset regulation, third motor rethread first gear and transmission track drive the second gear and grab and carry a rotation regulation, on the one hand, very big improvement should snatch the scope that the seat can the movable adjustment of grabbing on the mechanism, on the other hand, very big improvement grab carry the seat to the precision and the efficiency that the article snatched, the second hinge makes the hydraulic pressure post drive when turning over the cover frame upset more level and smooth and easy.
The utility model discloses a further technological improvement lies in: two grab and carry the seat and be the symmetry setting, and the length of rubber leather packing and the width size looks adaptation of grabbing the briquetting, the terminal surface of grabbing the briquetting equidistant setting a plurality of prominent semi-circular rubber leather packing, very big improvement grab the steadiness that the briquetting snatched the article.
The utility model discloses a further technological improvement lies in: roll the storehouse middle part below and be provided with the hollow through shaft groove with the pivot looks adaptation of second motor top, link and the second motor drives the third gear and is swing joint with hanging the dress board in rolling the storehouse, the pivot of second motor top runs through the shaft groove, and two second motors drive the third gear and cooperate the hobbing to roll in rolling the storehouse, drive two grab and carry the seat and remove and be close to the article of waiting to grab.
The utility model discloses a further technological improvement lies in: the working method of the grabbing mechanism specifically comprises the following steps:
the method comprises the following steps: a screw at the end of the mechanical arm is screwed into a connecting screw hole of the top connecting plate, the grabbing mechanism is screwed and fixed with the mechanical arm, the first motor drives the rotating plate and the grabbing and carrying seats to rotate and adjust through a rotating shaft, and the two second motors drive the third gear to roll in the rolling bin in a matched manner with the hobbing so as to drive the two grabbing and carrying seats to move close to an object to be grabbed;
step two: the fourth motors on the upper side and the lower side of the grabbing seat respectively drive the grabbing blocks to turn over through the transmission shafts, and the objects are grabbed through the two grabbing blocks on the grabbing seat;
step three: the third motor drives the grabbing and carrying seat to rotate and adjust through the transmission crawler belt, so that the articles are rotated and adjusted, the hydraulic cylinder pushes the turning frame and the grabbing and carrying seat to turn and adjust through the hydraulic column, and the grabbed articles are driven to turn and adjust.
Compared with the prior art, the beneficial effects of the utility model are that:
1. when the grabbing mechanism is used, a first motor drives a rotating plate and a grabbing seat to rotate and adjust movably through a rotating shaft, two second motors drive a third gear to roll in a rolling bin in a matched manner with hobbing teeth to drive two grabbing seats to move close to an object to be grabbed, fourth motors on the upper side and the lower side of the grabbing seat respectively drive a grabbing block to turn over through a transmission shaft, the object is grabbed through the two grabbing blocks on the grabbing seat, a plurality of protruding semicircular rubber leather cushions are arranged on the end face of the grabbing block at equal intervals, the stability of the grabbing block for grabbing the object is greatly improved, the two grabbing seats can grab different objects respectively, the capacity quantity grabbed by the grabbing mechanism is improved, the first motor drives the grabbing seat to rotate and move, and the second motor is matched to drive the hanging plate to move and adjust, and the pneumatic cylinder promotes through the hydraulic column and turns over the cover frame and grab and carry the seat upset regulation, and the third motor rethread first gear and drive track drive the second gear and grab and carry the seat rotation regulation, and on the one hand, very big improvement should grab the scope that carries the seat and can the movable adjustment on the mechanism, on the other hand, very big improvement grab carry the seat to the precision and the efficiency that the article snatched.
2. Two grab and carry the seat and can assist the cooperation and snatch the both ends of great article respectively, two grab and carry the seat and can be adjusted the activity respectively, adjust the position of snatching to big article, improve two and grab the precision of snatching of carrying the seat to big article, and should snatch the mechanism and snatch the back to the article, the third motor drives through the transmission track and grabs and carry the seat rotation regulation, thereby carry out rotation regulation to the article, the pneumatic cylinder promotes through the hydraulic column and turns over a cover frame and grab and carry the seat upset regulation, thereby drive the article upset regulation activity of snatching, guarantee that this snatchs the mechanism can more nimble adjusting position to the article of snatching, be convenient for snatched processing or transportation in the article later stage and put.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic view of the overall three-dimensional structure of the present invention.
Fig. 2 is a schematic view of the structure of the gripping and loading seat of the present invention.
Fig. 3 is a schematic structural diagram of a second motor according to the present invention.
Fig. 4 is a transverse sectional view of the middle part of the turning-over frame of the present invention.
In the figure: 1. a jacking plate; 101. erecting a support plate; 102. a hydraulic cylinder; 103. a hydraulic column; 2. a connecting screw hole; 3. a first motor; 4. rotating the plate; 5. a hinge; 6. turning over the sleeve frame; 7. rolling the bin; 8. a second motor; 9. hanging a plate; 10. a third motor; 11. a first gear; 12. a drive track; 13. a second gear; 14. a connecting shaft; 15. a gripping and loading seat; 16. a fourth motor; 17. a drive shaft; 18. a swinging plate; 19. grabbing a pressing block; 20. a rubber leather pad; 21. a third gear; 22. hobbing; 23. a through shaft groove.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-4, a grabbing mechanism for a robot arm comprises a top plate 1, a rotating plate 4 and two grabbing seats 15, wherein a first motor 3 is arranged below the middle of the top plate 1, the rotating plate 4 is rotatably connected below the first motor 3 through a rotating shaft, two ends of the rotating plate 4 are both connected with a turning frame 6 through hinges 5, the turning frame 6 is ensured to turn smoothly through the hinges 5, a second motor 8 is arranged below one end of the turning frame 6, a hanging plate 9 is arranged below the second motor 8, a third motor 10 is arranged at the upper end of the side wall of the hanging plate 9, one end of the third motor 10 is rotatably connected with a first gear 11 through a rotating shaft, a transmission crawler 12 is sleeved on the first gear 11, a connecting shaft 14 with a cylindrical structure is sleeved below the hanging plate 9 through a bearing sleeve, the connecting shaft 14 is convenient to rotate through the bearing sleeve, and a second gear 13 is arranged at one end of the connecting shaft 14, the other end of the connecting shaft 14 is provided with a gripping seat 15, wherein a vertical support plate 101 is arranged below the middle part of the rotary plate 4, hydraulic cylinders 102 are obliquely arranged on two sides of the vertical support plate 101, the upper parts of the two hydraulic cylinders 102 are respectively movably connected with the two turnover frames 6 through hydraulic columns 103, two fourth motors 16 are arranged at the upper end and the lower end of the gripping seat 15, a swinging plate 18 is rotatably connected between the two fourth motors 16 at the end part of the gripping seat 15 through a rotating shaft, a gripping block 19 is arranged below one end of the swinging plate 18, a plurality of rubber leather pads 20 with semicircular sections are arranged at equal intervals at one end surface of the gripping block 19, a third gear 21 is rotatably connected above the second motor 8 through a rotating shaft, a hollow rolling bin 7 with an inverted T-shaped structure is arranged above the middle part of the turnover frames 6, a plurality of convex rolling teeth 22 are arranged at equal intervals at one end inner wall of the rolling bin 7, the third gear 21 is connected to the inside, and one end of the third gear 21 is engaged with the hobbing 22.
Equidistant a plurality of connecting screw 2 that sets up side by side on the board 1 that connects, connect screw 2 through a plurality of and conveniently with the butt joint installation of arm.
The lower part of the transmission crawler 12 is sleeved on the second gear 13, and the third motor 10 is rotatably connected with the transmission crawler 12, the second gear 13, the connecting shaft 14 and the gripping and loading seat 15 through the first gear 11.
Two hydraulic pressure post 103 tops all are connected to two cover frame 6 bottoms that turn over respectively through the second hinge, pneumatic cylinder 102 promotes through hydraulic pressure post 103 and turns over cover frame 6 and grab and carry 15 upset regulation of seat, third motor 10 rethread first gear 11 and transmission track 12 drive second gear 13 and grab and carry 15 rotation regulation of seat, on the one hand, very big improvement should grab the scope that carries 15 can the regulation of activity of grabbing on the mechanism, on the other hand, very big improvement grab carry 15 precision and the efficiency that the seat snatched the article, the second hinge makes hydraulic pressure post 103 more level and smooth and easy when driving the upset of cover frame 6.
Two grab and carry seat 15 and be the symmetry setting, and the length of rubber leather packing 20 and the width size looks adaptation of grabbing briquetting 19, the terminal surface of grabbing briquetting 19 is equidistant to be set up the prominent semi-circular rubber leather packing 20 of a plurality of, very big improvement grab the steadiness that briquetting 19 snatched the article.
Roll storehouse 7 middle part below and be provided with hollow and the logical shaft groove 23 of the pivot looks adaptation of second motor 8 top, link and second motor 8 drives third gear 21 and is swing joint with hanging dress board 9 in rolling storehouse 7, and the pivot of second motor 8 top runs through shaft groove 23, and two second motors 8 drive third gear 21 and cooperate the hobbing 22 roll in rolling storehouse 7, drive two and grab and carry seat 15 and remove and be close to the article of waiting to grab.
The working method of the grabbing mechanism specifically comprises the following steps:
the method comprises the following steps: a screw at the end of the mechanical arm is screwed into a connecting screw hole 2 of the top connecting plate 1, the grabbing mechanism is screwed and fixed with the mechanical arm, the first motor 3 drives the rotating plate 4 and the grabbing seat 15 to rotate and adjust through a rotating shaft, the two second motors 8 drive the third gear 21 to roll in the rolling bin 7 in a manner of matching with the hobbing gear 22, and the two grabbing seats 15 are driven to move to be close to an object to be grabbed;
step two: the fourth motors 16 on the upper side and the lower side of the gripping and carrying seat 15 respectively drive the gripping blocks 19 to turn over through the transmission shafts 17, and the articles are gripped by the two gripping blocks 19 on the gripping and carrying seat 15;
step three: the third motor 10 drives the grabbing and carrying seat 15 to rotate and adjust through the transmission crawler 12, so as to rotate and adjust the object, and the hydraulic cylinder 102 drives the overturning frame 6 and the grabbing and carrying seat 15 to overturn and adjust through the hydraulic column 103, so as to drive the grabbed object to overturn and adjust.
When the grabbing mechanism is used, a first motor 3 drives a rotating plate 4 and a grabbing seat 15 to rotate and adjust to move through a rotating shaft, two second motors 8 drive a third gear 21 to roll in a rolling bin 7 in a matching manner with a hobbing gear 22 to drive two grabbing seats 15 to move to be close to an object to be grabbed, fourth motors 16 on the upper side and the lower side of the grabbing seat 15 respectively drive a grabbing block 19 to turn over through a transmission shaft 17, the object is grabbed through two grabbing blocks 19 on the grabbing seat 15, a plurality of protruding semicircular rubber leather pads 20 are arranged on the end face of the grabbing block 19 at equal intervals, the stability of the grabbing block 19 for grabbing the object is greatly improved, the two grabbing seats 15 can grab different objects respectively, the capacity of the grabbing mechanism is improved, and the first motor 3 drives the grabbing seat 15 to rotate and move, the second motor 8 is matched to drive the hanging plate 9 to movably adjust, the hydraulic cylinder 102 pushes the turning-over frame 6 and the grabbing and carrying seat 15 to turn over and adjust through the hydraulic column 103, and the third motor 10 drives the second gear 13 and the grabbing and carrying seat 15 to rotatably adjust through the first gear 11 and the transmission crawler 12, so that on one hand, the movable adjusting range of the grabbing and carrying seat 15 on the grabbing mechanism is greatly improved, and on the other hand, the precision and the efficiency of the grabbing and carrying seat 15 for grabbing objects are greatly improved;
two grab and carry seat 15 can assist the cooperation and snatch the both ends of great article respectively, two grab and carry seat 15 can be adjusted the activity respectively, adjust the position of snatching to big article, improve two grab and carry seat 15 to the precision of snatching of big article, and should snatch the mechanism and snatch the back to the article, third motor 10 drives through transmission track 12 and grabs and carry seat 15 rotation regulation, thereby carry out rotation regulation to the article, pneumatic cylinder 102 promotes through hydraulic column 103 and overturns cover frame 6 and grab and carry seat 15 upset regulation, thereby drive the article upset regulation activity of snatching, guarantee that this snatchs the mechanism can more nimble adjusting position to the article of snatching, be convenient for snatched the processing or transportation in article later stage and put.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims (6)

1. The utility model provides a snatch mechanism for robotic arm which characterized in that: comprises an abutting plate (1), a rotating plate (4) and two grabbing seats (15), wherein a first motor (3) is arranged below the middle part of the abutting plate (1), the rotating plate (4) is rotatably connected below the first motor (3) through a rotating shaft, both ends of the rotating plate (4) are connected with a turning frame (6) through hinges (5), a second motor (8) is arranged below one end of the turning frame (6), a hanging plate (9) is arranged below the second motor (8), a third motor (10) is arranged at the upper end of the side wall of the hanging plate (9), one end of the third motor (10) is rotatably connected with a first gear (11) through the rotating shaft, a transmission crawler (12) is sleeved on the first gear (11), a connecting shaft (14) with a cylindrical structure is sleeved below the hanging plate (9) through a bearing, and a second gear (13) is arranged at one end of the connecting shaft (14), the other end of the connecting shaft (14) is provided with a gripping and loading seat (15);
a vertical carrier plate (101) is arranged below the middle part of the rotary plate (4), hydraulic cylinders (102) are obliquely arranged on two sides of the vertical carrier plate (101), and the upper parts of the two hydraulic cylinders (102) are respectively movably connected with the two sleeve turning frames (6) through hydraulic columns (103);
two fourth motors (16) are arranged at the upper end and the lower end of the grabbing and carrying seat (15), a swinging plate (18) is rotatably connected between the two fourth motors (16) at the end part of the grabbing and carrying seat (15) through a rotating shaft, a grabbing block (19) is arranged below one end of the swinging plate (18), and a plurality of rubber leather pads (20) with semicircular sections are arranged on the end face of one end of the grabbing block (19) at equal intervals;
second motor (8) top is rotated through the pivot and is connected with third gear (21), it is hollow to be the storehouse (7) that rolls of falling T shape structure to turn over cover frame (6) middle part top to be provided with, and rolls storehouse (7) one end inner wall equidistant and set up bellied hobbing of a plurality of (22), third gear (21) are connected to and roll storehouse (7) inside, and third gear (21) one end is connected with hobbing (22) meshing.
2. The gripping mechanism for a robot arm according to claim 1, characterized in that the top plate (1) is provided with several connection screw holes (2) side by side at equal intervals.
3. The grabbing mechanism for a mechanical arm as claimed in claim 1, wherein the lower part of the transmission track (12) is sleeved on the second gear (13), and the third motor (10) is rotatably connected with the transmission track (12), the second gear (13), the connecting shaft (14) and the grabbing and carrying seat (15) through the first gear (11).
4. A gripping mechanism for a robot arm according to claim 1, characterised in that the top of both hydraulic columns (103) are connected to the bottom of both rollover frames (6) by second hinges, respectively.
5. The grabbing mechanism for a mechanical arm according to claim 1, wherein the two grabbing and carrying seats (15) are symmetrically arranged, and the length of the rubber cushion (20) is matched with the width of the grabbing and pressing block (19).
6. The grabbing mechanism for a robot arm according to claim 1, wherein a hollow through shaft groove (23) matched with the rotating shaft above the second motor (8) is arranged below the middle part of the rolling bin (7), and the second motor (8) drives the third gear (21) to be movably connected with the hanging plate (9) in the rolling bin (7).
CN202020858150.7U 2020-05-21 2020-05-21 A snatch mechanism for robotic arm Active CN212287674U (en)

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Application Number Priority Date Filing Date Title
CN202020858150.7U CN212287674U (en) 2020-05-21 2020-05-21 A snatch mechanism for robotic arm

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Application Number Priority Date Filing Date Title
CN202020858150.7U CN212287674U (en) 2020-05-21 2020-05-21 A snatch mechanism for robotic arm

Publications (1)

Publication Number Publication Date
CN212287674U true CN212287674U (en) 2021-01-05

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CN202020858150.7U Active CN212287674U (en) 2020-05-21 2020-05-21 A snatch mechanism for robotic arm

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111496829A (en) * 2020-05-21 2020-08-07 马鞍山职业技术学院 A snatch mechanism for robotic arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111496829A (en) * 2020-05-21 2020-08-07 马鞍山职业技术学院 A snatch mechanism for robotic arm

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