CN213471172U - Main operation arm of master-slave control type four-axis mechanical arm with dial wheel - Google Patents
Main operation arm of master-slave control type four-axis mechanical arm with dial wheel Download PDFInfo
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- CN213471172U CN213471172U CN202022548197.6U CN202022548197U CN213471172U CN 213471172 U CN213471172 U CN 213471172U CN 202022548197 U CN202022548197 U CN 202022548197U CN 213471172 U CN213471172 U CN 213471172U
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Abstract
The utility model relates to a take principal and subordinate of thumb wheel to control main operating arm of formula four-axis arm relates to remote control technical field for remote control operation vehicle-mounted four-axis arm to realize the remote high altitude spraying construction of steelframe factory building. The utility model discloses a take principal and subordinate of thumb wheel to control main operation arm of formula four-axis arm, including base, angle sensing unit and grab handle unit, through the rotation of first angle sensing unit, second angle sensing unit, third angle sensing unit and grab handle unit, with its turned angle information transmission to from the control arm to the operation carries out corresponding operation from the corresponding part of control arm, realizes remote high altitude spraying operation from this.
Description
Technical Field
The utility model relates to a remote control technical field relates to a master slaver who takes thumb wheel controls formula four-axis arm's main operating arm especially is applicable to the main operating arm of the on-vehicle four-axis arm of remote control steel frame construction protection spraying.
Background
To the protective material spraying current situation of present steel frame construction factory building, traditional construction all relies on the workman to take the crank arm, straight arm crane directly to grip the spray gun and carry out the spraying to the steel surface, perhaps through putting up the scaffold frame, the manual work stands on and carries out construction work, and this kind of high altitude construction closely not only operation environment is abominable, because direct handheld spray gun is easy tired moreover, has not only reduced construction operation efficiency, and the security is low moreover.
SUMMERY OF THE UTILITY MODEL
The utility model provides a take principal and subordinate of thumb wheel to control formula four-axis arm's main operating arm for remote control operation vehicle-mounted four-axis arm to realize the remote high altitude spraying construction of steelframe factory building.
The main operating arm of the master-slave control type four-axis mechanical arm with the thumb wheel comprises a base, an angle sensing unit and a grab handle unit which are connected with a slave operating arm through an electrical interface;
wherein the angle sensing unit includes:
the lower end of the first angle sensing unit is connected with the base, and the first angle sensing unit can rotate along a first shaft to control the slave operation arm to execute corresponding actions;
the second angle sensing unit is connected with the upper end of the first angle sensing unit through a first connecting plate and can rotate along a second shaft so as to control the slave operation arm to execute corresponding actions; and
the third angle sensing unit is connected with the second angle sensing unit through an arm lever and can rotate along a third axis to control the slave operation arm to execute corresponding actions;
and the grab handle unit is connected with the third angle sensing unit through a second connecting plate and can rotate along a fourth shaft to control the slave operating arm to execute corresponding actions.
In one embodiment, the first angle sensing unit, the second angle sensing unit, and the third angle sensing unit each include:
a housing;
a rotating flange rotatable along a first axis, a second axis, or a third axis, the rotating flange being rotatably connected to an end of the housing;
the flange rotating shaft penetrates through the rotating flange and is fixedly connected with the rotating flange; and
the first angle sensor is arranged in the shell and is connected with the flange rotating shaft;
the rotating flange drives the flange rotating shaft to rotate when rotating so that the inner shaft of the first angle sensor rotates to obtain the angle information of the rotating flange.
In one embodiment, the housing comprises:
the bearing fixing seat is arranged on one side of the first angle sensor and is fixedly connected with the first angle sensor, and the rotating flange is rotatably connected with the bearing fixing seat through a bearing;
a tail cap disposed at the other side of the first angle sensor; and
and the sleeve is sleeved outside the first angle sensor and is respectively connected with the bearing fixing seat and the tail cover, so that the first angle sensor is packaged in the sleeve.
In one embodiment, a first threading hole is formed in the tail cover, and the communication cable of the first angle sensor extends out through the first threading hole.
In one embodiment, the grip unit includes:
a handle sleeve;
the shifting wheel can rotate along a fourth shaft and is rotationally connected with the grab handle sleeve;
the thumb wheel rotating shaft is fixedly connected with the thumb wheel; and
the second angle sensor is connected with the thumb wheel rotating shaft;
when the thumb wheel rotates, the thumb wheel rotating shaft is driven to rotate, so that the inner shaft of the second angle sensor rotates to obtain the angle information of the thumb wheel.
In one embodiment, the handle sleeve is provided with a first button and a second button, the first button is used for controlling the on-off of a master-slave control mode, and the second button is used for controlling the spray gun of the slave operation arm;
the first button and the second button are offset from each other in the circumferential direction and/or in the axial direction on the grip sleeve.
In one embodiment, a flange spacer is arranged in the handle sleeve, and the thumb wheel is in sliding fit with the flange spacer to realize relative rotation.
In one embodiment, the thumb wheel is provided with a fixing hole, the axis of the fixing hole is perpendicular to the axis of the thumb wheel rotating shaft, and a fastening piece is arranged in the fixing hole to fasten and connect the thumb wheel with the thumb wheel rotating shaft.
In one embodiment, a sensor connecting seat is arranged in the handle sleeve, a sensor outer sleeve is fixed outside the second angle sensor, and the sensor connecting seat is fixedly connected with the sensor outer sleeve.
In one embodiment, the rear end of the handle sleeve is provided with a tail connecting seat, the tail connecting seat is provided with a second threading hole, and a communication cable of the second angle sensor extends out through the second threading hole.
Compared with the prior art, the utility model has the advantages of, through the rotation of first angle sensing unit, second angle sensing unit, third angle sensing unit and grab handle unit, with its turned angle information transmission to from the control arm to the corresponding part of operation follow control arm carries out corresponding operation, realizes remote operation from this.
Drawings
The present invention will be described in more detail hereinafter based on embodiments and with reference to the accompanying drawings.
Fig. 1 is an operation schematic diagram of a master operation arm controlling a slave operation arm of a master-slave operation type four-axis mechanical arm with a thumb wheel according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a main operation arm of a master-slave control type four-axis mechanical arm with a dial wheel according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of the first angle sensing unit shown in FIG. 2;
FIG. 4 is a front view of the grip unit shown in FIG. 2;
FIG. 5 is a cross-sectional view at A-A of FIG. 4;
fig. 6 is an enlarged view of fig. 5 at B.
Reference numerals:
100-a main operating arm; 200-a slave manipulator arm; 201-a spray gun; 300-an electrical interface;
1-a grip unit; 2-a first connection plate; 3-arm lever; 4-a second connecting plate; 5-a base; 6-an angle sensing unit; 7-a connector unit;
61-a first angle sensing unit; 62-a second angle sensing unit; 63-a third angle sensing unit;
601-rotating the flange; 602-flange shaft; 603-a bearing; 604-bearing fixing seats; 605-set screws; 606-a first angle sensor; 607-a sleeve; 608-a communication cable of the first angle sensor; 609-tail cap; a cannula mount 610; 611-a housing;
101-a thumb wheel; 102-a second button; 103-a first button; 104-a grip sleeve; 105-a thumb wheel spindle; 106-sensor housing; 107-a second angle sensor; 108-tail connector base; 109-flange spacer; 110-a sensor connection mount; 111-a communication cable of a second angle sensor; 112-a fastener; 113-bolt.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1-6, the utility model provides a take principal and subordinate of thumb wheel to control main operating arm 100 of formula four-axis arm, it can indirect remote control from the follow action of operating arm 200 (generally for on-vehicle four-axis arm), as shown in fig. 1, realizes ground remote control and arm high altitude spraying construction operation through the synchronous action of the two.
Specifically, the master arm 100 of the present invention includes a base 5, an angle sensing unit 6, and a grip unit 1 connected to a slave arm through an electrical interface 300.
In one embodiment, the angle sensing unit 6 includes 3 angle sensing units, which are a first angle sensing unit 61, a second angle sensing unit 62, and a third angle sensing unit 63, respectively.
Specifically, the first angle sensing unit 61 is connected to the base 5 at a lower end thereof, and the first angle sensing unit 61 can rotate along the first axis to operate the slave operation arm to perform corresponding actions. Wherein the first axis is the a axis shown in fig. 1.
And a second angle sensing unit 62 connected to the upper end of the first angle sensing unit 61 through the first connection plate 2, wherein the second angle sensing unit 62 can rotate along the second axis to operate the slave operation arm to perform corresponding actions. Wherein the second axis is the B axis shown in fig. 1.
And a third angle sensing unit 63 connected to the second angle sensing unit 62 through the arm 3, wherein the third angle sensing unit 63 is rotatable along a third axis to manipulate the slave manipulation arm to perform a corresponding action. Wherein the third axis is the C-axis shown in fig. 1.
And the handle unit 1 is connected with the third angle sensing unit 63 through the second connecting plate 4, and the handle unit 1 can rotate along a fourth axis to control the slave operating arm to execute corresponding actions. Wherein the fourth axis is the D axis shown in fig. 1. The operator performs various operations by holding the grip unit 1.
First angle sensing unit 61, second angle sensing unit 62 and third angle sensing unit 63's structure is the same, uses first angle sensing unit 61 to explain it as an example below, and all the other angle sensing units all adopt the same structural style rather than, the utility model discloses it is not being repeated here.
The first angle sensing unit 61 includes a housing 611, a rotating flange 601, a flange rotating shaft 602, and a first angle sensor 606. Wherein the first angle sensor 606 is disposed within the housing 611.
The rotating flange 601 is rotatable along a first axis (a-axis), and the rotating flange 601 is rotatably connected to an end of the housing 611. The flange rotating shaft 602 penetrates through the rotating flange 601 and is fixedly connected with the rotating flange 601. As shown in fig. 3, a first end of the flange rotating shaft 602 is fixedly connected to the rotating flange 601, and a second end thereof protrudes from the rotating flange 601 and is fixedly connected to the first angle sensor 606. Specifically, a second end of the flange shaft 602 is connected to the inner shaft (hollow shaft) of the first angle sensor 606. Therefore, when the rotating flange 601 rotates, the flange rotating shaft 602 can be driven to rotate, so that the inner shaft of the first angle sensor 606 rotates to obtain the angle information that the rotating flange 601 rotates. The angle information is processed and transmitted to the slave manipulator 200 through the communication cable 608 of the first angle sensor, so as to control the corresponding components of the slave manipulator to rotate through the corresponding angle along the axis a'.
Therefore, the first shaft (a-shaft) is the axis of the flange rotating shaft 602.
It should be noted that the rotating flange of the second angle sensing unit 62 can rotate along a second shaft (B-axis), and accordingly, the second shaft (B-axis) is an axis of the flange rotating shaft of the second angle sensing unit 62. A second angle sensor of the second angle sensing unit 62 acquires information of the angle that the rotating flange thereof has rotated; the angle information is transmitted to the slave manipulator 200 through the communication cable of the second angle sensor after signal processing, thereby controlling the corresponding components of the slave manipulator to rotate through the corresponding angles along the axis B'.
The rotating flange of the third angle sensing unit 63 can rotate along a third axis (C-axis), which is the axis of the flange rotating shaft of the third angle sensing unit 63. A third angle sensor of the third angle sensing unit 63 acquires the information of the angle that the rotating flange thereof rotates; the angle information is transmitted to the slave manipulator 200 through the communication cable of the third angle sensor after signal processing, so as to control the corresponding components of the slave manipulator to rotate through the corresponding angle along the C' axis.
As shown in fig. 3, the housing 611 includes the bearing holder 604, the tail cap 609, and the sleeve 607.
The bearing fixing seat 604 is disposed on one side of the first angle sensor 606 (on a side close to the rotating flange 601) and is fixedly connected with the first angle sensor 606, and the rotating flange 601 is rotatably connected with the bearing fixing seat 604 through the bearing 603. As shown in fig. 3, the rotating flange 601 and the bearing fixing base 604 are respectively sleeved on the outer ring and the inner ring of the bearing 603, so that the rotating flange 601 can rotate relative to the bearing fixing base 604.
The tail cap 609 is provided on the other side (the side away from the rotating flange 601) of the first angle sensor 606. The sleeve 607 is sleeved outside the first angle sensor 606, and the sleeve 607 is connected to the bearing fixing seat 604 and the tail cover 609 respectively, so as to enclose the first angle sensor 606 therein.
As shown in fig. 3, the bearing holder 604 is fixedly connected to a first end of the casing 607 via a casing mount 610, and the tail cap 609 is fixedly connected to a second end of the casing 607 via the casing mount 610, whereby the bearing holder 604, the casing 607, and the tail cap 609 enclose the first angle sensor 606 therein.
Further, a first threading hole is formed in the tail cover 609, and the communication cable 608 of the first angle sensor extends out through the first threading hole.
The end cap 609 of the first angle sensor unit 61 is connected to the base 5, and the rotary flange 601 of the first angle sensor unit 61 is connected to the first connecting plate 2, the first connecting plate 2 being configured in an L-shaped configuration. One end of which is connected to the rotating flange 601 of the first angle sensing unit 61 and the other end of which is connected to the rotating flange of the second angle sensing unit 62.
A first connector unit 7 is arranged on the housing of the second angle sensing unit 62, the first connector unit 7 has a vertical connection structure, and the axial direction thereof is connected with the housing of the second angle sensing unit 62; which is connected in a radial direction to one of the ends of the arm 3. The other end of the arm 3 is connected to a second connecting plate 4, wherein the second connecting plate 4 is also configured in an L-shaped configuration, and the other end of the second connecting plate 4 is connected to the grip unit 1, thereby rotationally connecting the parts.
The grip unit 1 includes a grip sleeve 104, a thumb wheel 101, a thumb wheel spindle 105, and a second angle sensor 107. A second angle sensor 107 is provided in the grip sleeve 104. The thumb wheel 101 is rotatable along a fourth axis (i.e., the D axis shown in fig. 1), and the thumb wheel 101 is rotatably connected to the grip sleeve 104. The thumb wheel rotating shaft 105 is fixedly connected with the thumb wheel 101. The inner shaft (hollow shaft) of the second angle sensor 107 is connected to the thumbwheel rotary shaft 105.
When the thumb wheel 101 rotates, the rotating shaft of the thumb wheel 101 is driven to rotate, so that the inner shaft of the second angle sensor 107 rotates to obtain the information of the angle rotated by the thumb wheel 101.
Therefore, the fourth axis (D axis) is the axis of the thumb wheel rotating shaft 105.
Further, a first button 103 (master-slave button) and a second button 102 (gun button) are provided on the grip sleeve 104, the first button 103 is used for controlling the on-off of the master-slave control mode, and the second button 102 is used for controlling the gun of the slave manipulator.
Wherein the first button 103 and the second button 102 are offset from each other in the circumferential direction and/or in the axial direction on the grip sleeve 104. As shown in fig. 4, the first button 103 and the second button 102 are different in angle in the circumferential direction of the grip sleeve 104 to improve the convenience of operation. When the operator presses the second button 102 with his thumb, the first button 103 is pressed by his index finger or middle finger, so that the purpose of remote operation control with one hand is achieved.
Preferably, as shown in fig. 5, the handle sleeve 104 is provided therein, and the thumb wheel 101 is slidably engaged with the flange spacer 109 for relative rotation.
The thumb wheel 101 is provided with a fixing hole, the axis of the fixing hole is perpendicular to the axis of the rotating shaft of the thumb wheel 101, and a fastening piece 112 is arranged in the fixing hole to fasten the thumb wheel 101 and the thumb wheel rotating shaft 105.
As shown in fig. 5 and 6, a first end of the thumb wheel rotating shaft 105 is fixedly connected with the thumb wheel 101, and a second end of the thumb wheel rotating shaft 105 passes through the handle sleeve 104 and then is connected with the second angle sensor 107.
The grip sleeve 104 is provided with a sensor connecting seat 110 therein, a sensor housing 106 is fixed to the outside of the second angle sensor 107, and the sensor connecting seat 110 is fixedly connected with the sensor housing 106, thereby enclosing the second angle sensor 107 therein.
The rear end of the handle sleeve 104 is provided with a tail connecting seat 108, the tail connecting seat 108 is provided with a second threading hole, and a communication cable 111 of the second angle sensor extends out through the second threading hole.
The tail connecting seat 108 is fixedly connected with one end of the second connecting plate 4, and the other end of the second connecting plate 4 is fixedly connected with the rotating flange of the third angle sensor 63. That is, the rear connection seat 108 of the third angle sensor 63 is connected to the grip unit 1 through the second connection plate 4.
A second connector unit 8 is arranged on the housing of the third angle sensor 63, the second connector unit 8 has a vertical connection structure, and the axial direction thereof is connected with the housing of the third angle sensor 63; which is connected in a radial direction to one of the ends of the arm 3. I.e. the third angle sensor 63 is connected to the arm 3 via the second connector unit 8. The other end of the arm 3 is connected to a first connector unit 7 provided on the housing of the second angle sensing unit 62; the rotating flange of the second angle sensing unit 62 is connected to one end of the first connection plate 2, and the other end of the first connection plate 2 is connected to the tail cap of the first angle sensing unit 61, that is, the second angle sensing unit 62 is connected to the first angle sensing unit 61 through the first connection plate 2, thereby constituting the structure of the main operation arm 100.
Therefore, when the operator drags the handle sleeve 104, the first shaft (a-axis), the second shaft (B-axis) and the third shaft (C-axis) of the main operating arm 100 are driven to rotate; when the operator dials the dial wheel 101, the rotation angle information of the dial wheel 101, i.e. the rolling angle information of the fourth axis (D axis) of the main operating arm 100, is indirectly obtained.
As shown in fig. 1, the operator fixedly attaches the base 5 of the main operating arm 100 to the lumbar suspension structure thereof. During construction operation, an operator carries the main operating arm 100 according to the spraying requirement, and when the operator presses the first button 103, the master-slave mode is started, namely the main operating arm 100 is in communication connection with the slave operating arm 200 through a communication cable, and the main operating arm 100 can control the operating arm 200. When the first button 103 is released, the master-slave mode is disconnected.
Specifically, when the first shaft (a-shaft) of the master operation arm 100, which operates it, is rotated, the lumbar rotation shaft (a' -shaft) of the slave operation arm 200 will be rotated; when the second shaft (B-axis) of its operating master arm 100 rotates, the shoulder pitch shaft (B' -axis) of the slave arm 200 will rotate; when the third axis (C-axis) of its operation master operation arm 100 is rotated, the elbow pitch axis (C-axis) of the slave operation arm 200 will be rotated; when it dials the dial wheel 101, the roll shaft (D' shaft) of the slave operation arm 200 is rotated. The main operation arm 100 controls the tip axis (D' axis) of the slave operation arm 200 (on-board four-axis robot arm) to roll and control the spray width direction of the spray gun 201.
Further, when the operator presses the second button 102, the control is conducted from the spray gun 201 of the operation arm 200, and the spray operation can be performed within the range of the spray sector shown in fig. 1 by the spray gun 201. When the second button 102 is released, the spraying is stopped.
To sum up, the utility model discloses a main arm 100 of controlling, following action (as shown in fig. 1) from operation arm 200 (on-vehicle four-axis arm) can indirect teleoperation control, realize ground remote control, arm high altitude spraying construction operation through the synchronous action of the two.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. A main operating arm of a master-slave control type four-axis mechanical arm with a dial wheel is characterized by comprising a base, an angle sensing unit and a grab handle unit, wherein the base, the angle sensing unit and the grab handle unit are connected with a slave operating arm through an electrical interface;
wherein the angle sensing unit includes:
the lower end of the first angle sensing unit is connected with the base, and the first angle sensing unit can rotate along a first shaft to control the slave operation arm to execute corresponding actions;
the second angle sensing unit is connected with the upper end of the first angle sensing unit through a first connecting plate and can rotate along a second shaft so as to control the slave operation arm to execute corresponding actions; and
the third angle sensing unit is connected with the second angle sensing unit through an arm lever and can rotate along a third axis to control the slave operation arm to execute corresponding actions;
and the grab handle unit is connected with the third angle sensing unit through a second connecting plate and can rotate along a fourth shaft to control the slave operating arm to execute corresponding actions.
2. The main operating arm of the master-slave steering four-axis mechanical arm with the thumb wheel of claim 1, wherein the first angle sensing unit, the second angle sensing unit and the third angle sensing unit each comprise:
a housing;
a rotating flange rotatable along a first axis, a second axis, or a third axis, the rotating flange being rotatably connected to an end of the housing;
the flange rotating shaft penetrates through the rotating flange and is fixedly connected with the rotating flange; and
the first angle sensor is arranged in the shell and is connected with the flange rotating shaft;
the rotating flange drives the flange rotating shaft to rotate when rotating so that the inner shaft of the first angle sensor rotates to obtain the angle information of the rotating flange.
3. The master-slave steering four-axis mechanical arm with thumb wheel of claim 2, wherein the housing comprises:
the bearing fixing seat is arranged on one side of the first angle sensor and is fixedly connected with the first angle sensor, and the rotating flange is rotatably connected with the bearing fixing seat through a bearing;
a tail cap disposed at the other side of the first angle sensor; and
and the sleeve is sleeved outside the first angle sensor and is respectively connected with the bearing fixing seat and the tail cover, so that the first angle sensor is packaged in the sleeve.
4. The main operating arm of the master-slave operation type four-axis mechanical arm with the thumb wheel of claim 3, wherein the tail cover is provided with a first threading hole, and the communication cable of the first angle sensor extends out through the first threading hole.
5. The master-slave steering four-axis mechanical arm with thumb wheel of any one of claims 1-4, wherein the grip unit comprises:
a handle sleeve;
the shifting wheel can rotate along a fourth shaft and is rotationally connected with the grab handle sleeve;
the thumb wheel rotating shaft is fixedly connected with the thumb wheel; and
the second angle sensor is connected with the thumb wheel rotating shaft;
when the thumb wheel rotates, the thumb wheel rotating shaft is driven to rotate, so that the inner shaft of the second angle sensor rotates to obtain the angle information of the thumb wheel.
6. The main operating arm of the master-slave control type four-shaft mechanical arm with the thumb wheel of claim 5, wherein a first button and a second button are arranged on the grab handle sleeve, the first button is used for controlling the on-off of a master-slave control mode, and the second button is used for controlling a spray gun of the slave operating arm;
the first button and the second button are offset from each other in the circumferential direction and/or in the axial direction on the grip sleeve.
7. The main operating arm of the master-slave manipulation type four-axis mechanical arm with the thumb wheel of claim 5, wherein a flange spacer is arranged in the handle sleeve, and the thumb wheel is in sliding fit with the flange spacer to realize relative rotation.
8. The main operating arm of the master-slave manipulation type four-axis mechanical arm with the thumb wheel according to claim 5, wherein the thumb wheel is provided with a fixing hole, the axis of the fixing hole is perpendicular to the axis of the thumb wheel rotating shaft, and a fastening member is arranged in the fixing hole to fasten the thumb wheel and the thumb wheel rotating shaft.
9. The main operating arm of the master-slave operation type four-axis mechanical arm with the thumb wheel of claim 5, wherein a sensor connecting seat is arranged in the handle sleeve, a sensor outer sleeve is fixed outside the second angle sensor, and the sensor connecting seat is fixedly connected with the sensor outer sleeve.
10. The main operating arm of the master-slave operation type four-axis mechanical arm with the thumb wheel of claim 5, wherein the rear end of the handle sleeve is provided with a tail connecting seat, the tail connecting seat is provided with a second threading hole, and the communication cable of the second angle sensor extends out through the second threading hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022548197.6U CN213471172U (en) | 2020-11-06 | 2020-11-06 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022548197.6U CN213471172U (en) | 2020-11-06 | 2020-11-06 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
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| CN213471172U true CN213471172U (en) | 2021-06-18 |
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| CN202022548197.6U Active CN213471172U (en) | 2020-11-06 | 2020-11-06 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
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2020
- 2020-11-06 CN CN202022548197.6U patent/CN213471172U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
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