CN214724224U - Vehicle-mounted mechanical arm - Google Patents
Vehicle-mounted mechanical arm Download PDFInfo
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- CN214724224U CN214724224U CN202120237771.8U CN202120237771U CN214724224U CN 214724224 U CN214724224 U CN 214724224U CN 202120237771 U CN202120237771 U CN 202120237771U CN 214724224 U CN214724224 U CN 214724224U
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims description 38
- 238000002955 isolation Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 abstract description 16
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 8
- 230000009467 reduction Effects 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
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Abstract
A vehicle-mounted mechanical arm comprises a group of two mechanical bionic arm bodies and a bearing platform, wherein each mechanical bionic arm body comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft and a sixth shaft; the third shaft is connected to the second shaft in an articulated manner and drives the fourth shaft to rotate at the same time so as to support the small arm to grab an object; the fourth shaft is connected to the third shaft and drives the fifth shaft to rotate; the fifth shaft is connected to the fourth shaft and drives the sixth shaft to rotate; the sixth shaft is connected to the fifth shaft in an engaged manner. The utility model discloses possess six degrees of freedom, the human arm action of simulation that can be close more, the action is nimble, and then can accomplish more high-difficulty actions, satisfies different service environment, can avoid people direct contact dangerous scene, demolishs at the bomb, arranges to explode, prevents the casualties under dangerous scenes such as pipeline maintenance, vehicle bottom security protection.
Description
Technical Field
The utility model relates to a arm especially relates to an on-vehicle arm.
Background
With the increasingly prominent trend of automation and intelligence development, leading-edge technologies such as artificial intelligence and the internet of things are increasingly popularized and applied, and mechanical arm products gradually permeate the aspects of economic construction and social life. In the limited space emergency rescue process such as bomb removal, explosion elimination, urban pipeline maintenance, vehicle bottom security and the like, particularly in the emergency rescue process of unknown danger, the operations such as investigation, monitoring and the like on site are required. Because the rescue site is time-tight and heavy in task, a large amount of cleaning work is needed; at present, the work can not be finished by a machine, and is basically finished by manpower, so that certain potential safety hazard exists. Therefore, the vehicle-mounted mechanical bionic arm suitable for limited space operation is designed, and the problems can be well solved.
Disclosure of Invention
According to the technical problem, the utility model provides a vehicle-mounted mechanical arm, including a set of two mechanical bionic arm bodies, bearing platform altogether, each mechanical bionic arm body includes primary shaft, secondary shaft, third shaft, fourth shaft, fifth shaft, sixth shaft, the primary shaft is installed on bearing platform, the secondary shaft links up in the primary shaft, drives the rotation of third shaft simultaneously; the third shaft is connected to the second shaft in an engaged mode and drives the fourth shaft to rotate; the fourth shaft is connected to the third shaft and drives the fifth shaft to rotate; the fifth shaft is connected to the fourth shaft and drives the sixth shaft to rotate; the sixth shaft is connected to the fifth shaft in an engaged manner;
the bearing platform comprises an upper computer, an infrared obstacle avoidance module and electric vehicle wheels, the upper computer is used for controlling the driving path of the orange platform and controlling the mechanical bionic arm body to grab an object, the bearing platform is of a rectangular structure, the electric vehicle wheels are installed at the bottom of the bearing platform, and the infrared obstacle avoidance module is arranged on the side face of the bearing platform.
Furthermore, the first shaft consists of a first motor, a first gear, a first synchronous belt and a second gear, the first gear is rotatably installed above the bearing platform through a central shaft, the first motor is installed above the bearing platform and is positioned at the rear side of the first gear, the second gear is connected with an output shaft of the first motor, and the first synchronous belt is connected between the first gear and the second gear; the second shaft is arranged above the first gear.
Furthermore, the second shaft consists of a second motor, a third gear, a second synchronous belt, a fourth gear and a first shell, the first shell is arranged above the first gear, the left side and the right side of the first shell are respectively provided with a safety isolation baffle, the second motor is positioned in the first shell, the third gear is connected with an output shaft of the second motor, the fourth gear is rotatably arranged on the safety isolation baffle on the left side of the first shell through a central shaft and is positioned on the front side of the second motor, and the second synchronous belt is connected between the third gear and the fourth gear; the third shaft is rotatably installed between the fourth gear and the safety isolation baffle on the right side of the first shell.
Furthermore, the third shaft is composed of a third motor, a fifth gear, a third synchronous belt, a sixth gear and a second shell, the second shell is installed between the fourth gear and a safety isolation baffle on the right side of the first shell, the third motor is installed in the second shell, the fifth gear is connected with an output shaft of the third motor, the sixth gear is rotatably installed on the right side of the second shell through a central shaft and is located above the fifth gear, and the third synchronous belt is connected between the fifth gear and the sixth gear; the fourth shaft is rotatably installed between the sixth gear and the second outer shell.
Furthermore, the fourth shaft is composed of a fourth motor, a seventh gear, a fourth synchronous belt, an eighth gear and a third shell, the third shell is positioned between the sixth gear and the second shell, the fourth motor is positioned in the third shell, the seventh gear is connected with an output shaft of the fourth motor and is positioned on the front side of the third shell, the eighth gear is installed on the front side of the third shell and is positioned above the seventh gear, and the fourth synchronous belt is connected between the seventh gear and the eighth gear; and the fifth shaft is fixedly arranged on the eighth gear.
Furthermore, the fifth shaft is composed of a fifth motor, a ninth gear, a fifth synchronous belt, a tenth gear and a fourth shell, the fourth shell is fixed on the eighth gear, the fifth motor is located in the fourth shell, an output shaft of the fifth motor penetrates out of the right side of the fourth shell, the ninth gear is connected with an output shaft of the fifth motor, the tenth gear is located on the front side of the ninth gear and is rotatably installed on the right side of the fourth shell, and the fifth synchronous belt is connected between the ninth gear and the tenth gear; the sixth shaft is rotatably installed between the tenth gear and the fourth shell.
Furthermore, the sixth shaft is composed of a fixed support, a sixth motor and a manipulator, the fixed support is located between the tenth gear and the fourth outer shell, the sixth motor is located in the fixed support, an output shaft of the sixth motor penetrates out of the lower end of the fixed support, and the manipulator is connected with the output shaft of the sixth motor.
Furthermore, the infrared obstacle avoidance modules are 8 in 4 groups, two of the infrared obstacle avoidance modules are installed in the middle of the front end of the bearing platform, the other two infrared obstacle avoidance modules are installed in the front left and front right of the bearing platform, the other two infrared obstacle avoidance modules are installed in the middle of the rear end of the bearing platform, and the last two infrared obstacle avoidance modules are installed in the rear left and rear right of the bearing platform respectively.
The utility model has the advantages that:
1. the utility model discloses a mechanical bionic arm gathers human arm motion state through the camera and disassembles human arm action, and the motion of control corresponding axis realizes the realization to arm bionic function, six bionic mechanical arms possess six degrees of freedom, can be more approximate simulation human arm action, and the action is nimble, and then can accomplish more highly difficult degree actions, satisfies different service environment, can avoid people direct contact dangerous scene, prevents the casualties under dangerous scenes such as bomb demolition, explosive disposal, pipeline maintenance, vehicle bottom security protection;
2. the bearing platform carries a mechanical bionic arm to bear an object to be operated, and the bearing platform can be controlled by an upper computer to move to an area to be operated;
3. the six-axis mechanical bionic arm can remotely simulate the actions of a human, namely an operator can remotely operate the six-axis mechanical bionic arm to work, and meanwhile, the six-axis mechanical bionic arm can be remotely taught in real time.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
fig. 2 is the schematic diagram of the internal structure of the mechanical bionic arm body of the present invention.
As shown in the figure: 1. a sixth axis; 2. a gear number ten; 3. a fifth synchronous belt; 4. a gear number nine; 5. a screw; 6. a fourth axis; 10. a fifth shaft; 12. a manipulator;
13. a second shaft; 15. a first shaft; 31. a third axis; 17. an infrared obstacle avoidance module; 25. an electric vehicle wheel; 29: a load-bearing platform; 30: a mechanical bionic arm body;
58. a second motor; 60. a first motor; 59. a first housing; 56. a second housing; 49. a third shell; 48. a shell of No. four; 61. a first gear; 63. a second gear; 57. a third gear; 55. a fourth gear; 66. a fifth gear; 53. a sixth gear; 52. a seventh gear; 50. a gear eight; 65. A third motor; 67. a fourth motor; 47. a fifth motor; 45. a number six motor; 62. a first synchronous belt; 64. a second synchronous belt; 60. a third synchronous belt; 51. a fourth synchronous belt; 46. a fifth synchronous belt; 69. And fixing the bracket.
Detailed Description
Example 1:
according to the technical problem, the utility model provides a vehicle-mounted mechanical arm, including a set of two mechanical bionic arm bodies 30, load-bearing platform 29 altogether, every mechanical bionic arm body 30 includes primary shaft 15, secondary shaft 13, third axle 31, fourth axle 6, fifth axle 10, sixth axle 1, primary shaft 15 installs on load-bearing platform 29, secondary shaft 13 links up in primary shaft 15, drives third axle 31 simultaneously and rotates, simulates human big arm position, realizes the supporting role; the third shaft 31 is connected with the second shaft 13 and drives the fourth shaft 6 to rotate, the small arm and the shoulder are connected to simulate the large arm part of a human hand, and the small arm is supported to grab an object; the fourth shaft 6 is connected to the third shaft 31 and drives the fifth shaft 10 to rotate at the same time, so that the elbow part of a human body is simulated, and the bending and stretching motion of the mechanical bionic arm is realized by one degree of freedom of the elbow; the fifth shaft 10 is connected to the fourth shaft 6 and drives the sixth shaft 1 to rotate at the same time, and the small arm and the hand are connected to realize the wrist rotation function; the sixth shaft 1 is connected with the fifth shaft 10;
bearing platform 29 includes host computer, infrared obstacle avoidance module 17, electric wheel 25, the host computer is used for controlling the orange platform route of traveling and control mechanical bionic arm body 30 and snatchs the object, bearing platform 29 is the rectangle structure, electric wheel 25 installs in bearing platform 29's bottom, drives bearing platform 29 operation, infrared obstacle avoidance module 17 sets up in bearing platform 29's side, makes bearing platform 29 can in time avoid the barrier when the operation.
Further, the first shaft 15 is composed of a first motor 60, a first gear 61, a first synchronous belt 62 and a second gear 63, the first gear 61 is rotatably mounted above the bearing platform 29 through a central shaft and connected above the bearing platform 29 to realize speed reduction, speed increase, direction change and steering actions, the first motor 60 is mounted above the bearing platform 29 and positioned at the rear side of the first gear 61 to drive the large arm of the mechanical bionic arm to move to realize shoulder movement, the second gear 63 is connected with an output shaft of the first motor 60 to realize speed reduction, speed increase, direction change and steering actions, and the first synchronous belt 62 is connected between the first gear 61 and the second gear 63; the second shaft 13 is mounted above the first gear 61.
Further, the second shaft 13 is composed of a second motor 58, a third gear 57, a second synchronous belt 64, a fourth gear 55 and a first shell 59, the first shell 59 is installed above the first gear 61, and the left and right sides of the first shell 59 are respectively provided with a safety isolation baffle plate for wrapping the second motor 58 and other devices to prevent the devices from being damaged, the second motor 58 is positioned in the first shell 59 and drives the mechanical bionic arm to move, so that two degrees of freedom of the shoulder are realized, the third gear 57 is connected with the output shaft of the second motor 58 to realize the actions of speed reduction, speed increase, direction change and steering, the fourth gear 55 is rotatably mounted on the safety isolation barrier on the left side of the first shell 59 through a central shaft, the position of the synchronous motor is positioned at the front side of the second motor 58 to realize speed reduction, speed increase, direction change and steering actions, and a second synchronous belt 64 is connected between the third gear 57 and the fourth gear 55; the third shaft 31 is rotatably mounted between the fourth gear 55 and a safety isolation barrier on the right side of the first housing 59.
Further, the third shaft 31 is composed of a third motor 65, a fifth gear 66, a third synchronous belt 60, a sixth gear 53 and a second shell 56, the second shell 56 is installed between the fourth gear 55 and a safety isolation baffle on the right side of the first shell 59, wraps the third motor 65 and other devices, and prevents the devices from being damaged, the third motor 65 is installed in the second shell 56, the fifth gear 66 is connected with an output shaft of the third motor 65 to realize speed reduction, speed increase, direction change and steering actions, the sixth gear 53 is installed on the right side of the second shell 56 through a central shaft in a rotating manner and is located above the fifth gear 66 to realize speed reduction, speed increase, direction change and steering actions, and the third synchronous belt 60 is connected between the fifth gear 66 and the sixth gear 53; the fourth shaft 6 is rotatably installed between the sixth gear 53 and the second housing 56.
Further, the fourth shaft 6 is composed of a fourth motor 67, a seventh gear 52, a fourth synchronous belt 51, an eighth gear 50 and a third shell 49, the third shell 49 is positioned between the sixth gear 53 and the second shell 56, wraps the fourth motor 67 and other devices, prevents the devices from being damaged, the fourth motor 67 is positioned in the third shell 49 and drives the bionic mechanical arm to move so as to realize the small arm movement, the seventh gear 52 is connected with the output shaft of the fourth motor 67, the position of the gear is arranged at the front side of the third shell 49 to realize the actions of speed reduction, speed increase, direction change and steering, the eighth gear 50 is arranged at the front side of the third shell 49, the position of the synchronous belt is positioned above the seventh gear 52, the actions of speed reduction, speed increase, direction change and steering are realized, and a fourth synchronous belt 51 is connected between the seventh gear 52 and the eighth gear 50; the fifth shaft 10 is fixedly mounted on the eighth gear 50.
Further, the fifth shaft 10 is composed of a fifth motor 47, a ninth gear 4, a fifth synchronous belt 463, a tenth gear 2 and a fourth shell 48, the eighth gear 50 is fixed with the fourth shell 48 to prevent the device from being damaged, the fifth motor 47 is located in the fourth shell, an output shaft of the fifth motor 47 penetrates out of the right side of the fourth shell 48, the ninth gear 4 is connected with an output shaft of the fifth motor 47, the tenth gear 2 is located on the front side of the ninth gear 4 and is rotatably installed on the right side of the fourth shell 48, and the fifth synchronous belt 463 is connected between the ninth gear 4 and the tenth gear 2; and the sixth shaft 1 is rotatably arranged between the tenth gear 2 and the fourth shell.
Further, the sixth shaft 1 is composed of a fixed support, a sixth motor 45 and a manipulator 12, the fixed support is located between the tenth gear 2 and the fourth shell 48, the sixth motor 45 is located in the fixed support, an output shaft of the sixth motor 45 penetrates out of the lower end of the fixed support, and the manipulator 12 is connected with an output shaft of the sixth motor 45 to simulate a palm of a human body, so that a grabbing function is achieved.
Further, the number of the infrared obstacle avoidance modules 17 is 8 in 4 groups, two of the infrared obstacle avoidance modules are installed right in the middle of the front end of the bearing platform 29, the other two infrared obstacle avoidance modules are installed right in the front left and front right of the bearing platform 29, the other two infrared obstacle avoidance modules are installed right in the middle of the rear end of the bearing platform 29, and the last two infrared obstacle avoidance modules are installed respectively at the rear left and rear right of the bearing platform 29
Example 2:
the utility model discloses mechanical mounting passes through the screw and realizes between each part, through host computer control load-bearing platform 29 route of traveling and control mechanical bionic arm 30 body snatch the object, specifically do: the bearing platform 29 carries a mechanical bionic arm body 30 which bears an object to be operated and can move to an area to be operated under the control of an upper computer, the mechanical bionic arm body 30 comprises six shafts which are sequentially connected through seven supports, wherein a first shaft 15 and a second shaft 13 form two degrees of freedom of a shoulder, a third shaft 31 forms one degree of freedom of a large arm, a fourth shaft 6 forms one degree of freedom of an elbow, a fifth shaft 9 forms one degree of freedom of a small arm, a sixth shaft 1 forms one degree of freedom of a wrist, the first shaft 15 can be connected to the bearing platform 29 through a through hole in a connecting plate at the bottom and simultaneously drives the second shaft 13 to rotate, so that the mechanical bionic arm body 30 can rotate by 360 degrees, the rotation and pitching motion of the shoulder can be realized through the two degrees of freedom of the shoulder, the overturning motion of the large arm can be realized through one degree of freedom of the large arm, and the bending and stretching motion of the mechanical bionic arm body 30 can be realized through one degree of freedom of the elbow, the turning motion of the small arm is realized through one degree of freedom of the small arm, and the rotation of the wrist joint is realized through one degree of freedom of the wrist; the whole movement of the mechanical bionic arm body 30 is formed by the combination of the rotation movements of the shoulder, the big arm, the elbow joint, the small arm and the wrist joint.
The utility model discloses use eight infrared obstacle modules of keeping away, wherein two are installed and are used for keeping away the place ahead barrier when marcing to the dead ahead in the middle of the load-bearing platform front end, install respectively in load-bearing platform's left the place ahead and right front for can keep away the barrier when turning, install in the middle of the rear end of load-bearing platform in other two, can keep away the barrier when being used for reversing, install respectively in load-bearing platform's left rear and right rear for last two, can keep away the barrier when turning backward, can the multi-angle march need not turn around, therefore, the operation is convenient, it is nimble to keep away the obstacle, can ensure hardware safety.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. The utility model discloses each part that mentions is the common technique in prior art, and the technical personnel of this trade should understand, the utility model discloses do not receive the restriction of above-mentioned embodiment, the description only is the explanation in above-mentioned embodiment and the description the principle of the utility model, under the prerequisite that does not deviate from the spirit and the scope of the utility model, the utility model discloses still can have various changes and improvement, these changes and improvement all fall into the protection of claim the utility model is within the scope. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A vehicle-mounted mechanical arm is characterized by comprising a group of two mechanical bionic arm bodies and a bearing platform, wherein each mechanical bionic arm body comprises a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft and a sixth shaft; the third shaft is connected to the second shaft in an engaged mode and drives the fourth shaft to rotate; the fourth shaft is connected to the third shaft and drives the fifth shaft to rotate; the fifth shaft is connected to the fourth shaft and drives the sixth shaft to rotate; the sixth shaft is connected to the fifth shaft in an engaged manner;
the bearing platform comprises an upper computer, an infrared obstacle avoidance module and electric vehicle wheels, the upper computer is used for controlling the driving path of the orange platform and controlling the mechanical bionic arm body to grab an object, the bearing platform is of a rectangular structure, the electric vehicle wheels are installed at the bottom of the bearing platform, and the infrared obstacle avoidance module is arranged on the side face of the bearing platform.
2. The vehicle-mounted mechanical arm as claimed in claim 1, wherein the first shaft is composed of a first motor, a first gear, a first synchronous belt and a second gear, the first gear is rotatably mounted above the bearing platform through a central shaft, the first motor is mounted above the bearing platform and is positioned at the rear side of the first gear, the second gear is connected with an output shaft of the first motor, and the first synchronous belt is connected between the first gear and the second gear; the second shaft is arranged above the first gear.
3. The vehicle-mounted mechanical arm as claimed in claim 2, wherein the second shaft is composed of a second motor, a third gear, a second synchronous belt, a fourth gear and a first shell, the first shell is mounted above the first gear, safety isolation baffles are respectively arranged on the left side and the right side of the first shell, the second motor is located in the first shell, the third gear is connected with an output shaft of the second motor, the fourth gear is rotatably mounted on the safety isolation baffle on the left side of the first shell through a central shaft and is located on the front side of the second motor, and the second synchronous belt is connected between the third gear and the fourth gear; the third shaft is rotatably installed between the fourth gear and the safety isolation baffle on the right side of the first shell.
4. The vehicle-mounted mechanical arm according to claim 3, wherein the third shaft is composed of a third motor, a fifth gear, a third synchronous belt, a sixth gear and a second shell, the second shell is installed between the fourth gear and a safety isolation baffle on the right side of the first shell, the third motor is installed in the second shell, the fifth gear is connected with an output shaft of the third motor, the sixth gear is rotatably installed on the right side of the second shell through a central shaft and is located above the fifth gear, and the third synchronous belt is connected between the fifth gear and the sixth gear; the fourth shaft is rotatably installed between the sixth gear and the second outer shell.
5. The vehicle-mounted mechanical arm according to claim 4, wherein the fourth shaft is composed of a fourth motor, a seventh gear, a fourth synchronous belt, an eighth gear and a third shell, the third shell is located between the sixth gear and the second shell, the fourth motor is located in the third shell, the seventh gear is connected with an output shaft of the fourth motor and located at the front side of the third shell, the eighth gear is mounted at the front side of the third shell and located above the seventh gear, and the fourth synchronous belt is connected between the seventh gear and the eighth gear; and the fifth shaft is fixedly arranged on the eighth gear.
6. The vehicle-mounted mechanical arm as claimed in claim 5, wherein the fifth shaft is composed of a fifth motor, a ninth gear, a fifth synchronous belt, a tenth gear and a fourth shell, the eighth gear is fixed with the fourth shell, the fifth motor is located in the fourth shell, an output shaft of the fifth motor penetrates out of the right side of the fourth shell, the ninth gear is connected with an output shaft of the fifth motor, the tenth gear is located in front of the ninth gear and rotatably mounted on the right side of the fourth shell, and the fifth synchronous belt is connected between the ninth gear and the tenth gear; the sixth shaft is rotatably installed between the tenth gear and the fourth shell.
7. The vehicle-mounted mechanical arm according to claim 6, wherein the sixth shaft is composed of a fixed support, a sixth motor and a manipulator, the fixed support is located between the tenth gear and the fourth shell, the sixth motor is located in the fixed support, an output shaft of the sixth motor penetrates out of the lower end of the fixed support, and the manipulator is connected with the output shaft of the sixth motor.
8. The vehicle-mounted mechanical arm as claimed in claim 1, wherein the number of the infrared obstacle avoidance modules is 8, 4 groups of the infrared obstacle avoidance modules are arranged, two of the infrared obstacle avoidance modules are arranged right in the middle of the front end of the bearing platform, the other two infrared obstacle avoidance modules are arranged right in front of the left and right of the bearing platform, the other two infrared obstacle avoidance modules are arranged right in the middle of the rear end of the bearing platform, and the last two infrared obstacle avoidance modules are respectively arranged at the left rear and right rear of the bearing platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120237771.8U CN214724224U (en) | 2021-01-28 | 2021-01-28 | Vehicle-mounted mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120237771.8U CN214724224U (en) | 2021-01-28 | 2021-01-28 | Vehicle-mounted mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN214724224U true CN214724224U (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120237771.8U Expired - Fee Related CN214724224U (en) | 2021-01-28 | 2021-01-28 | Vehicle-mounted mechanical arm |
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| CN (1) | CN214724224U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021057A (en) * | 2023-10-07 | 2023-11-10 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
-
2021
- 2021-01-28 CN CN202120237771.8U patent/CN214724224U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021057A (en) * | 2023-10-07 | 2023-11-10 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
| CN117021057B (en) * | 2023-10-07 | 2024-01-26 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
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Granted publication date: 20211116 |