CN216299295U - Mechanical arm with multiple degrees of freedom - Google Patents
Mechanical arm with multiple degrees of freedom Download PDFInfo
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- CN216299295U CN216299295U CN202121997075.3U CN202121997075U CN216299295U CN 216299295 U CN216299295 U CN 216299295U CN 202121997075 U CN202121997075 U CN 202121997075U CN 216299295 U CN216299295 U CN 216299295U
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Abstract
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm with multiple degrees of freedom, which comprises a sliding unit, a large arm component, an elbow joint component, a small arm component and an electromagnetic plate, wherein the large arm component is connected with the sliding unit in a sliding mode, the electromagnetic plate is rotatably arranged on the small arm component, the elbow joint component is respectively and rotatably connected with the large arm component and the small arm component, the elbow joint component comprises a first connecting arm rotatably connected with the large arm component, a second connecting arm rotatably connected with the small arm component, a first transmission piece fixedly arranged on the second connecting arm and a first driving piece arranged on the first connecting arm, the second connecting arm is rotatably connected with the first connecting arm through the first transmission piece, and the first transmission piece is used for converting the driving force of the first driving piece into the rotating force of the second connecting arm relative to the first connecting arm. The problem of current arm snatch the scope less in the work, the action flexibility ratio is poor, snatchs metal object inconvenient is solved.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm with multiple degrees of freedom.
Background
With the development of science and technology and the progress of times, the mechanical arm is widely applied to industrial automatic production lines and service robots and can take on the work tasks of object manipulation, man-machine cooperation, man-machine interaction and the like. Manipulators, mechanical legs, and the like derived from a robot arm have become basic functional modules constituting various kinds of robots, and common configurations of tandem type robot arms include: the service robot mechanical arm is characterized in that the service robot mechanical arm is in an SRS type, a six-degree-of-freedom redundant mechanical arm is in an SRU type and an URS type, a five-degree-of-freedom redundant mechanical arm is in an URU type, a four-degree-of-freedom redundant mechanical arm is in an URR type and an RRU type, the service robot mechanical arm needs to meet the requirements of compact structure, flexible action, small motion inertia and the like, and high speed, high precision and modularization are the main trends of mechanical arm development in the future.
The prior art patent application No. 201921108988.8 discloses a multi-degree-of-freedom manipulator, and specifically discloses a multi-degree-of-freedom manipulator including a main machine base, wherein a driving disc is arranged on the main machine base, the driving disc is rotatably connected with a multi-degree-of-freedom connecting rod assembly, a free end of the multi-degree-of-freedom connecting rod assembly is linked with a mechanical claw linkage arm, the mechanical claw linkage arm is connected with a fixed base assembly, and two opposite mechanical claw portions for driving the opening and closing of the mechanical claw linkage arm are arranged in the fixed base assembly. Among the above-mentioned scheme, the host computer seat is unable to remove after fixed, and the manipulator moves the flexibility ratio poor in work, can not be accurate snatch article.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need for a robot arm with multiple degrees of freedom, which is used to solve the problems of the existing robot arm that the grabbing range is small, the motion flexibility is poor, and the metal object grabbing is inconvenient.
The utility model provides a mechanical arm with multiple degrees of freedom, which comprises a sliding unit, a large arm component, an elbow joint component, a small arm component and an electromagnetic plate, wherein the large arm component is connected with the sliding unit in a sliding mode, the elbow joint component is rotatably connected with the large arm component and the small arm component respectively, the electromagnetic plate is rotatably arranged on the small arm component, the elbow joint component comprises a first connecting arm rotatably connected with the large arm component, a second connecting arm rotatably connected with the small arm component, a first transmission piece fixedly arranged on the second connecting arm and a first driving piece arranged on the first connecting arm, the second connecting arm is rotatably connected with the first connecting arm through the first transmission piece, and the first transmission piece is used for converting the driving force of the first driving piece into the rotating force of the second connecting arm relative to the first connecting arm.
Preferably, the first driving member includes a first connecting shaft fixedly connected to the second connecting arm and two first driven gears fixedly disposed at opposite ends of the first connecting shaft, the second connecting arm is rotatably connected to the first connecting arm via the first connecting shaft, the first driving member includes a first driving unit fixedly disposed in the first connecting arm, a first transmission shaft rotatably connected to the first connecting arm, a first bevel gear fixedly disposed in the middle of the first transmission shaft, and two first driving gears respectively fixedly disposed at two ends of the first transmission shaft and engaged with the two first driven gears, and a second bevel gear engaged with the first bevel gear is disposed on an output shaft of the first driving unit.
Preferably, the slip unit includes the bottom plate, sets firmly the riser in the relative both sides of bottom plate, rotates the threaded rod of locating between two risers and rotates the slider of being connected with the threaded rod, be equipped with the spout with slider matched with along the axis direction of threaded rod on the bottom plate, the upper end of slider is provided with the montant, the upper end fixed connection of big arm component and montant.
As preferred, big arm component includes third linking arm, fourth linking arm with montant fixed connection, sets firmly the second driving piece on the fourth linking arm and sets up the second driving piece on the third linking arm, the fourth linking arm rotates with the third linking arm via the second driving piece to be connected, the second driving piece supply in with the drive power transformation of second driving piece is into the fourth linking arm is relative the turning force of third linking arm, the second driving piece includes the second connecting axle with fourth linking arm fixed connection and sets firmly two second driven gear at the relative both ends of second connecting axle, the fourth linking arm rotates with the third linking arm via the second connecting axle to be connected, the second driving piece is including setting firmly second drive unit in the third linking arm, rotate the second transmission shaft of being connected with the third linking arm, set firmly the third bevel gear at second transmission shaft middle part and set firmly respectively in second transmission shaft both ends and with two second driven gears And the output shaft of the second driving unit is provided with a fourth bevel gear meshed with the third bevel gear, and the fourth connecting arm is rotationally connected with the first connecting arm.
Preferably, the forearm assembly includes a fifth connecting arm, a sixth connecting arm, a third transmission member fixedly arranged on the sixth connecting arm and a third driving member arranged on the fifth connecting arm, the sixth connecting arm is rotatably connected with the fifth connecting arm via the third transmission member, the third transmission member is used for converting the driving force of the third driving member into the rotating force of the fifth connecting arm, the third transmission member includes a third connecting shaft fixedly connected with the sixth connecting arm and two third driven gears fixedly arranged at the two opposite ends of the third connecting shaft, the sixth connecting arm is rotatably connected with the fifth connecting arm via the third connecting shaft, the third driving member includes a third driving unit fixedly arranged in the fifth connecting arm, a third transmission shaft rotatably connected with the fifth connecting arm, a fifth bevel gear fixedly arranged at the middle part of the third transmission shaft and third bevel gears respectively fixedly arranged at the two ends of the third transmission shaft and engaged with the two third driven gears And an output shaft of the third driving unit is provided with a sixth bevel gear meshed with a fifth bevel gear, and the fifth connecting arm is rotationally connected with the second connecting arm.
Preferably, a fourth driving unit is arranged inside the fourth connecting arm, a first connecting rod is arranged on one side of the first connecting arm, and one end of the first connecting rod extends into the fourth connecting arm and is fixedly connected with an output shaft of the fourth driving unit.
Preferably, a fifth driving unit is arranged inside the second connecting arm, a second connecting rod is arranged on one side of the fifth connecting arm, and one end of the second connecting rod extends into the second connecting arm and is fixedly connected with an output shaft of the fifth driving unit.
Preferably, a sixth driving unit is arranged inside the sixth connecting arm, a third connecting rod is arranged on one side of the electromagnetic plate, and one end of the third connecting rod extends into the sixth connecting arm and is fixedly connected with an output shaft of the sixth driving unit.
Preferably, the outer walls of the first connecting rods are fixedly provided with first steel ball sleeves, and the first steel ball sleeves are attached to the inner walls of the fourth connecting arms.
Preferably, the outer walls of the second connecting rods are fixedly provided with second steel ball sleeves, and the second steel ball sleeves are attached to the inner walls of the second connecting arms.
The utility model has the beneficial effects that: the utility model provides a mechanical arm with multiple degrees of freedom, a large arm assembly is connected with a sliding unit in a sliding mode, the sliding unit drives the mechanical arm to move integrally to enlarge a grabbing range, an elbow joint assembly is respectively connected with the large arm assembly and a small arm assembly in a rotating mode, the elbow joint assembly can drive the small arm assembly to rotate around the axis of the large arm assembly at three hundred sixty degrees without dead angles, meanwhile, the small arm assembly can also rotate around the axis of the elbow joint assembly at three hundred sixty degrees without dead angles, a second connecting arm is driven to rotate through a first driving piece, the small arm assembly can rotate around the first connecting arm at one hundred eighty degrees, the degree of freedom of the mechanical arm is effectively increased, the flexibility of the mechanical arm in working is improved, and an electromagnetic plate can grab metal objects conveniently.
Drawings
The utility model is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a robotic arm having multiple degrees of freedom according to the present invention;
FIG. 2 is a front view of a robotic arm having multiple degrees of freedom in accordance with the present invention;
fig. 3 is a partial cross-sectional view of a robotic arm having multiple degrees of freedom in accordance with the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the utility model and together with the description, serve to explain the principles of the utility model and not to limit the scope of the utility model.
The utility model provides a mechanical arm with multiple degrees of freedom, which comprises a sliding unit 1, a large arm component 2 connected with the sliding unit 1 in a sliding mode, an elbow joint component 3, a small arm component 4 and an electromagnetic plate 5 rotatably arranged on the small arm component 4, wherein the large arm component 2 is slidably arranged on the sliding unit 1, the elbow joint component 3 is respectively connected with the large arm component 2 and the small arm component 4 in a rotating mode, the electromagnetic plate 5 is rotatably arranged on the small arm component 4, the joint component 3 can drive the small arm component 4 to rotate around the axis of the large arm component 2 for three hundred sixty degrees without dead angles, meanwhile, the small arm component 4 can also rotate around the axis of the elbow joint component 3 for three hundred sixty degrees without dead angles, the flexibility of the mechanical arm in work is improved, and metal objects can be conveniently grabbed by the electromagnetic plate 5.
The sliding unit 1 comprises a bottom plate 11, vertical plates 12 fixedly arranged on two opposite sides of the bottom plate 11, a threaded rod 13 rotatably arranged between the two vertical plates 12, and a sliding block 14 rotatably connected with the threaded rod 13, wherein a sliding groove matched with the sliding block 14 is formed in the bottom plate 11 along the axis direction of the threaded rod 13, a vertical rod 141 is arranged at the upper end of the sliding block 14, and a large arm component 2 is fixedly connected with the upper end of the vertical rod 141. The whole mechanical arm is driven to move by the threaded rod 13, so that the grabbing range can be enlarged.
The big arm assembly 2 comprises a third connecting arm 21 fixedly connected with the vertical rod 141, a fourth connecting arm 22, a second transmission piece 23 fixedly arranged on the fourth connecting arm 22 and a second driving piece 24 arranged on the third connecting arm 21, the fourth connecting arm 22 is rotatably connected with the third connecting arm 21 through the second transmission piece 23, the second transmission piece 23 is used for converting the driving force of the second driving piece 24 into the rotating force of the fourth connecting arm 22 relative to the third connecting arm 21, the second transmission piece 23 comprises a second connecting shaft 231 fixedly connected with the fourth connecting arm 22 and two second driven gears 232 fixedly arranged at two opposite ends of the second connecting shaft 231, the fourth connecting arm 22 is rotatably connected with the third connecting arm 21 through the second connecting shaft 231, and the second driving piece 24 comprises a second driving unit 241 fixedly arranged in the third connecting arm 21, a second transmission shaft 242 rotatably connected with the third connecting arm 21, A third bevel gear 243 fixedly arranged at the middle part of the second transmission shaft 242, and a second driving gear 244 respectively fixedly arranged at two ends of the second transmission shaft 242 and engaged with the two second driven gears 232, wherein a fourth bevel gear 245 engaged with the third bevel gear 243 is arranged on the output shaft of the second driving unit 241, and the fourth connecting arm 22 is rotatably connected with the first connecting arm 31. The fourth connecting arm 22 is driven by the second driving unit 241 to rotate around the third connecting arm 21, so that the degree of freedom of the mechanical arm is further increased.
The elbow joint assembly 3 comprises a first connecting arm 31 rotationally connected with the large arm assembly 2, a second connecting arm 32 rotationally connected with the small arm assembly 4, a first transmission piece 33 fixedly arranged on the second connecting arm 32 and a first driving piece 34 arranged on the first connecting arm 31, wherein the second connecting arm 32 is rotationally connected with the first connecting arm 31 through the first transmission piece 33, and the first transmission piece 33 is used for converting the driving force of the first driving piece 34 into the rotating force of the second connecting arm 32 relative to the first connecting arm 31; in this embodiment, the first transmission member 33 includes a first connection shaft 331 fixedly connected to the second connection arm 32 and two first driven gears 332 fixedly disposed at opposite ends of the first connection shaft 331, the second connection arm 32 is rotatably connected to the first connection arm 31 via the first connection shaft 331, the first driving member 34 includes a first driving unit 341 fixedly disposed in the first connection arm 31, a first transmission shaft 342 rotatably connected to the first connection arm 31, a first bevel gear 343 fixedly disposed at a middle portion of the first transmission shaft 342, and two first driving gears 344 respectively fixedly disposed at two ends of the first transmission shaft 342 and engaged with the two first driven gears 332, and a second bevel gear 345 engaged with the first bevel gear 343 is disposed on an output shaft of the first driving unit 341. The degree of freedom of the robot arm can be further increased by the first driving unit 341 driving the second link arm 32 to rotate around the first link arm 31.
The small arm assembly 4 comprises a fifth connecting arm 41, a sixth connecting arm 42, a third transmission element 43 fixed on the sixth connecting arm 42 and a third driving element 44 arranged on the fifth connecting arm 41, the sixth connecting arm 42 is rotatably connected with the fifth connecting arm 41 via the third transmission element 43, the third transmission element 43 is used for converting the driving force of the third driving element 44 into the rotating force of the sixth connecting arm 42 relative to the fifth connecting arm 41, the third transmission element 43 comprises a third connecting shaft 431 fixedly connected with the sixth connecting arm 42 and two third driven gears 432 fixed at two opposite ends of the third connecting shaft 431, the sixth connecting arm 42 is rotatably connected with the fifth connecting arm 41 via the third connecting shaft 431, the third driving element 44 comprises a third driving unit 441 fixed in the fifth connecting arm 41, a third transmission shaft 442 rotatably connected with the fifth connecting arm 41, a fifth bevel gear 443 fixed at the middle of the third transmission shaft 442 and two third driven gears 443 respectively fixed at two ends of the third transmission shaft 442 and connected with the two third driven gears A third driving gear 444 engaged with the driving gear 432, a sixth bevel gear 445 engaged with the fifth bevel gear 443 is provided on the output shaft of the third driving unit 441, and the fifth connecting arm 41 is rotatably connected to the second connecting arm 32. The degree of freedom of the robot arm can be further increased by the third driving unit 441 driving the sixth connecting arm 42 to rotate about the fifth connecting arm 41.
On the basis of the above scheme, the fourth driving unit 25 is arranged inside the fourth connecting arm 22, the first connecting rod 311 is arranged on one side of the first connecting arm 31, and one end of the first connecting rod 311 extends into the fourth connecting arm 22 and is fixedly connected with the output shaft of the fourth driving unit 25. A fifth driving unit 35 is arranged inside the second connecting arm 32, a second connecting rod 411 is arranged on one side of the fifth connecting arm 41, and one end of the second connecting rod 411 extends into the second connecting arm 32 and is fixedly connected with an output shaft of the fifth driving unit 35. A sixth driving unit 45 is arranged inside the sixth connecting arm 42, a third connecting rod 51 is arranged on one side of the electromagnetic plate 5, and one end of the third connecting rod 51 extends into the sixth connecting arm 42 and is fixedly connected with an output shaft of the sixth driving unit 45. The fourth driving unit 25 drives the first connecting arm 31 to rotate by three hundred sixty degrees, and the fifth driving unit 35 drives the fifth connecting arm 411 to rotate by three hundred sixty degrees, so that the freedom degree of the mechanical arm can be improved; specifically, the first driving unit 341, the second driving unit 241, the third driving unit 441, the fourth driving unit 25, the fifth driving unit 35, and the sixth driving unit 45 are all driving motors.
It should be noted that the outer walls of the first connecting rods 311 are fixedly provided with first steel ball sleeves 312, and the first steel ball sleeves 312 are attached to the inner walls of the fourth connecting arms 22; the outer walls of the second connecting rods 411 are fixedly provided with second steel ball sleeves 412, and the second steel ball sleeves 412 are attached to the inner walls of the second connecting arms 32. The first steel ball sleeve 312 and the second steel ball sleeve 412 are identical in structure, the steel ball sleeve is mainly composed of a base body and a plurality of steel balls, the base body is machined into a plurality of regular holes according to an industrial standard, the steel balls are installed in the base body, the steel balls can move flexibly and are not prone to falling off, and high-precision operation of the elbow joint component 3 and the small arm component 4 can be effectively improved.
In the using process, the first driving unit 341, the second driving unit 241, the third driving unit 441, the fourth driving unit 25, the fifth driving unit 35 and the sixth driving unit 45 are all electrically connected with a controller (not shown in the figure), the threaded rod 13 is rotated to move the slider 14 on the bottom plate 11, so that the whole mechanical arm can move along with the slider 14, and the first driving unit 341 drives the first transmission shaft 342 to rotate, so that the second connecting arm 32 rotates around the first connecting shaft 331 by one hundred eighty degrees; the second transmission shaft 242 is driven to rotate by controlling the second driving unit 241, so that the fourth connecting arm 22 is effectively driven to rotate by one hundred and eighty degrees around the second connecting shaft 231; the third transmission shaft 442 is driven to rotate by controlling the third driving unit 441, so that the sixth connecting arm 42 rotates by one hundred and eighty degrees around the third connecting shaft 431; the fourth driving unit 221 is controlled to drive the first connecting rod 311 to rotate, so as to drive the first connecting arm 31 to rotate by three hundred and sixty degrees; the fifth driving unit 35 is controlled to drive the second connecting rod 411 to rotate, so that the fifth connecting arm 41 can be driven to rotate by three hundred and sixty degrees; the third transmission shaft 442 is driven to rotate by controlling the sixth driving unit 45, so that the sixth connecting arm 42 rotates by one hundred and eighty degrees around the third connecting shaft 43; the sixth driving unit 45 is controlled to drive the third connecting rod 51 to rotate, so that the electromagnetic plate 5 is driven to rotate; the metal object is grabbed up through the electromagnetic plate 5, and the object is put down only by cutting off the power.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a mechanical arm with multi freedom, its characterized in that, includes the slip unit, with slip unit sliding connection's big arm component, elbow joint subassembly, forearm subassembly and rotate and locate the electromagnetic plate on the forearm subassembly, the elbow joint subassembly rotates with big arm component and forearm subassembly respectively and is connected, wherein, the elbow joint subassembly includes rotate the first connecting arm of being connected with big arm component, rotate the second connecting arm of being connected with the forearm subassembly, set firmly first driving piece on the second connecting arm and set up the first driving piece on first connecting arm, the second connecting arm rotates with first connecting arm via first driving piece to be connected, just first driving piece supply with the drive power transformation of first driving piece becomes the second connecting arm is relative the turning force of first connecting arm.
2. The mechanical arm with multiple degrees of freedom of claim 1, wherein the first transmission member comprises a first connecting shaft fixedly connected with the second connecting arm and two first driven gears fixedly arranged at opposite ends of the first connecting shaft, the second connecting arm is rotatably connected with the first connecting arm through the first connecting shaft, the first driving member comprises a first driving unit fixedly arranged in the first connecting arm, a first transmission shaft rotatably connected with the first connecting arm, a first bevel gear fixedly arranged in the middle of the first transmission shaft and two first driving gears respectively fixedly arranged at two ends of the first transmission shaft and engaged with the two first driven gears, and a second bevel gear engaged with the first bevel gear is arranged on an output shaft of the first driving unit.
3. The mechanical arm with multiple degrees of freedom of claim 1, wherein the sliding unit comprises a bottom plate, vertical plates fixedly arranged on two opposite sides of the bottom plate, a threaded rod rotatably arranged between the two vertical plates, and a sliding block rotatably connected with the threaded rod, a sliding groove matched with the sliding block is formed in the bottom plate along the axis direction of the threaded rod, a vertical rod is arranged at the upper end of the sliding block, and the large arm assembly is fixedly connected with the upper end of the vertical rod.
4. The mechanical arm with multiple degrees of freedom as claimed in claim 2, wherein the large arm assembly comprises a third connecting arm fixedly connected with the vertical rod, a fourth connecting arm, a second transmission member fixedly arranged on the fourth connecting arm, and a second driving member arranged on the third connecting arm, the fourth connecting arm is rotatably connected with the third connecting arm through the second transmission member, the second transmission member is used for converting the driving force of the second driving member into a rotating force of the fourth connecting arm relative to the third connecting arm, the second transmission member comprises a second connecting shaft fixedly connected with the fourth connecting arm and two second driven gears fixedly arranged at two opposite ends of the second connecting shaft, the fourth connecting arm is rotatably connected with the third connecting arm through the second connecting shaft, and the second driving member comprises a second driving unit fixedly arranged in the third connecting arm, The second driving gear is fixedly arranged at two ends of the second driving shaft respectively and meshed with the two second driven gears, a fourth bevel gear meshed with the third bevel gear is arranged on an output shaft of the second driving unit, and the fourth connecting arm is rotatably connected with the first connecting arm.
5. The mechanical arm with multiple degrees of freedom of claim 2, wherein the small arm assembly comprises a fifth connecting arm, a sixth connecting arm, a third transmission member fixedly arranged on the sixth connecting arm, and a third driving member arranged on the fifth connecting arm, the sixth connecting arm is rotatably connected with the fifth connecting arm through the third transmission member, the third transmission member is used for converting the driving force of the third driving member into a rotating force of the sixth connecting arm relative to the fifth connecting arm, the third transmission member comprises a third connecting shaft fixedly connected with the sixth connecting arm and two third driven gears fixedly arranged at two opposite ends of the third connecting shaft, the sixth connecting arm is rotatably connected with the fifth connecting arm through the third connecting shaft, and the third driving member comprises a third driving unit fixedly arranged in the fifth connecting arm, a third transmission shaft rotatably connected with the fifth connecting arm, a third driving shaft, and a third driving member, The third driving gear is respectively fixedly arranged at two ends of the third transmission shaft and meshed with the two third driven gears, a sixth bevel gear meshed with the fifth bevel gear is arranged on an output shaft of the third driving unit, and the fifth connecting arm is rotatably connected with the second connecting arm.
6. The mechanical arm with multiple degrees of freedom of claim 4, wherein a fourth driving unit is arranged inside the fourth connecting arm, a first connecting rod is arranged on one side of the first connecting arm, and one end of the first connecting rod extends into the fourth connecting arm and is fixedly connected with an output shaft of the fourth driving unit.
7. The mechanical arm with multiple degrees of freedom of claim 5, wherein a fifth driving unit is arranged inside the second connecting arm, a second connecting rod is arranged on one side of the fifth connecting arm, and one end of the second connecting rod extends into the second connecting arm and is fixedly connected with an output shaft of the fifth driving unit.
8. The mechanical arm with multiple degrees of freedom of claim 5, wherein a sixth driving unit is arranged inside the sixth connecting arm, a third connecting rod is arranged on one side of the electromagnetic plate, and one end of the third connecting rod extends into the sixth connecting arm and is fixedly connected with an output shaft of the sixth driving unit.
9. The mechanical arm with multiple degrees of freedom of claim 6, wherein the outer walls of the first connecting rods are fixedly provided with first steel ball sleeves, and the first steel ball sleeves are attached to the inner walls of the fourth connecting arms.
10. The mechanical arm with multiple degrees of freedom of claim 7, wherein the outer wall of the second connecting rod is fixedly provided with a second steel ball sleeve, and the second steel ball sleeve is attached to the inner wall of the second connecting arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121997075.3U CN216299295U (en) | 2021-08-23 | 2021-08-23 | Mechanical arm with multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121997075.3U CN216299295U (en) | 2021-08-23 | 2021-08-23 | Mechanical arm with multiple degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216299295U true CN216299295U (en) | 2022-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121997075.3U Active CN216299295U (en) | 2021-08-23 | 2021-08-23 | Mechanical arm with multiple degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216299295U (en) |
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2021
- 2021-08-23 CN CN202121997075.3U patent/CN216299295U/en active Active
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