CN216940773U - Mechanical arm, mechanical arm and robot - Google Patents
Mechanical arm, mechanical arm and robot Download PDFInfo
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- CN216940773U CN216940773U CN202220503672.4U CN202220503672U CN216940773U CN 216940773 U CN216940773 U CN 216940773U CN 202220503672 U CN202220503672 U CN 202220503672U CN 216940773 U CN216940773 U CN 216940773U
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Abstract
The utility model provides a mechanical limb, a mechanical arm and a robot.A first driving piece of a large arm structure is arranged on a first arm body, and a power end of the first driving piece is connected with a second arm body so as to drive the second arm body to rotate around a first axis; a second driving piece of the small arm structure is arranged on the third arm body, and the power end of the second driving piece is connected with the fourth arm body so as to drive the fourth arm body to rotate around the second axis; a third driving piece of the elbow joint structure is arranged on the second arm body, and a power end of the third driving piece is connected with the third arm body so as to drive the third arm body to rotate around a third axis; a fourth driving part of the shoulder joint structure is arranged on the connecting piece, the output end of the fourth driving part is connected with the first arm body, and the fourth driving part drives the first arm body to rotate around a fourth axis; the output end of the fifth driving piece is connected with the connecting piece, the fixed end of the fifth driving piece is used for being connected with the robot body, and the fifth driving piece drives the connecting piece to rotate around a fifth axis.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a mechanical limb, a mechanical arm and a robot.
Background
The arm is an indispensable part of the robot and is a bearing body necessary for the movement and work of the robot. The robot can only grab moving objects and the like by controlling the movement of the arms, so that the robot achieves the effect of imitating human arms.
However, in the prior art, the degree of freedom of the arm of the robot is low, so that the controllability of the robot arm is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a mechanical limb, a mechanical arm and a robot, and aims to solve the technical problem that in the prior art, the controllability of the robot arm is influenced due to the fact that the degree of freedom of the robot arm is low.
In a first aspect, the present invention provides a mechanical limb comprising:
the large arm structure comprises a first arm body, a second arm body and a first driving piece, wherein the first driving piece is arranged on the first arm body, the power end of the first driving piece is connected with the second arm body, the first driving piece drives the second arm body to rotate around a first axis, and the first axis points to the second arm body from the first arm body;
the small arm structure comprises a third arm body, a fourth arm body and a second driving piece, the second driving piece is arranged on the third arm body, the power end of the second driving piece is connected with the fourth arm body, the second driving piece drives the fourth arm body to rotate around a second axis, and the second axis points to the fourth arm body from the third arm body;
the elbow joint structure comprises a third driving piece, the third driving piece is arranged on the second arm body, the power end of the third driving piece is connected with the third arm body, the third driving piece drives the third arm body to rotate around a third axis, and the third axis is perpendicular to the first axis;
the shoulder joint structure comprises a connecting piece, a fourth driving piece and a fifth driving piece, the fourth driving piece is arranged on the connecting piece, the output end of the fourth driving piece is connected with the first arm body, and the fourth driving piece drives the first arm body to rotate around a fourth axis; the output end of the fifth driving piece is connected with the connecting piece, the fixed end of the fifth driving piece is used for being connected with a robot body, the fifth driving piece drives the connecting piece to rotate around a fifth axis, and the fourth axis, the fifth axis and the first axis are perpendicular to each other.
As an embodiment of the present invention, the first arm is formed with a first mounting groove, the second arm is formed with a second mounting groove, the first mounting groove and the second mounting groove together form a first mounting cavity, and the first driving element is accommodated in the first mounting cavity.
As an embodiment of the present invention, the first arm body is formed with a first annular groove disposed around the first mounting groove;
a first annular convex strip is formed on the second arm body and arranged around the second mounting groove;
the first annular protruding strip is contained in the first annular groove, and the first annular protruding strip can move along the extending path of the first annular groove.
As an embodiment of the present invention, the third arm is formed with a third mounting groove, the fourth arm is formed with a fourth mounting groove, the third mounting groove and the fourth mounting groove together form a second mounting cavity, and the second driving element is accommodated in the second mounting cavity.
As an embodiment of the present invention, the third arm body is formed with a second annular groove disposed around the third mounting groove;
a second annular convex strip is formed on the fourth arm body and arranged around the fourth mounting groove;
the second annular protruding strip is contained in the second annular groove, and the second annular protruding strip can move along the extending path of the second annular groove.
As an embodiment of the present invention, the connecting member includes a first connecting portion disposed in the first arm body and a second connecting portion extending from the first connecting portion to the outside of the first arm body, the first connecting portion is connected to the fourth driving member, and the second connecting portion is connected to the power output end of the fifth driving member.
As an embodiment of the present invention, the third arm forms a first clamping portion and a second clamping portion which are oppositely spaced towards the second arm, and the first clamping portion is formed with a first rotating hole;
a third clamping portion and a fourth clamping portion which are opposite and spaced are formed in a protruding mode, facing the third arm body, of the second arm body, the third clamping portion and the fourth clamping portion are located between the first clamping portion and the second clamping portion, the third driving piece is arranged between the third clamping portion and the fourth clamping portion, and a power end of the third driving piece penetrates through the fourth clamping portion and is connected with the second clamping portion; one side of the third clamping part, which is far away from the fourth clamping part, is formed with a first boss, and the first boss penetrates through the first rotating hole.
As an embodiment of the present invention, the third arm forms a first clamping portion and a second clamping portion which are oppositely spaced towards the second arm, and the first clamping portion is formed with a first rotating hole;
a third clamping portion and a fourth clamping portion which are opposite and spaced are formed in a protruding mode, facing the third arm body, of the second arm body, the third clamping portion and the fourth clamping portion are located between the first clamping portion and the second clamping portion, the third driving piece is arranged between the third clamping portion and the fourth clamping portion, and a power end of the third driving piece penetrates through the fourth clamping portion and is connected with the second clamping portion; one side of the third clamping part, which is far away from the fourth clamping part, is formed with a first boss, and the first boss penetrates through the first rotating hole.
In a second aspect, the utility model further provides a mechanical arm, which includes a palm structure and the mechanical arm in the first aspect, and the palm structure is connected with the small arm structure.
In a third aspect, the present invention also provides a robot, which includes the mechanical arm according to the second aspect.
The embodiment of the utility model has the following beneficial effects:
according to the utility model, the fifth driving piece of the shoulder joint structure is arranged on the body, so that the mechanical limb is assembled with the body, and the mechanical limb is positioned beside the body; therefore, when the fifth driving piece drives the connecting piece to rotate around the fifth axis, the mechanical arm can move along the front-back direction of the body; when the fourth driving piece drives the first arm body to rotate around the fourth axis, the large arm structure, the elbow joint structure and the small arm structure can move to the left side (right side) of the body as a whole; when the first driving piece drives the second arm body to rotate around the first axis, the second arm body, the elbow joint structure and the small arm structure can rotate relative to the first arm body as a whole; when the third driving piece drives the third arm body to rotate around the third axis, the third arm body of the small arm structure can rotate relative to the second arm body of the large arm structure, and therefore the small arm structure is close to and far away from the large arm structure; when the second driving piece drives the fourth arm body to rotate around the second axis, the fourth arm body of the small arm structure can rotate relative to the third arm body; by applying the technical scheme, the mechanical limb has five degrees of freedom, and a highly humanoid effect is achieved, so that the palm structure is driven to flexibly move, and the technical problem that the controllability of the robot arm is influenced due to the fact that the degrees of freedom of the robot arm are less in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a robot according to an embodiment of the present invention;
fig. 3 is a partially enlarged schematic view of C in fig. 2.
Wherein: 100. a robot arm; 10. a mechanical limb; 11. a large arm structure; 111. a first arm body; 1111. a first mounting groove; 112. a second arm body; 1121. a second mounting groove; 1122. a third clamping part; 11221. a first boss; 1123. a fourth clamping portion; 113. a first driving member; 12. a forearm structure; 121. a third arm body; 1211. a third mounting groove; 1212. a first clamping portion; 1213. a second clamping portion; 122. a fourth arm body; 1221. a fourth mounting groove; 123. a second driving member; 13. an elbow joint structure; 131. a third driving member; 132. a speed reduction assembly; 1321. a second boss; 14. a shoulder joint structure; 141. a connecting member; 1411. a first connection portion; 1412. a second connecting portion; 142. a fourth drive; 143. a fifth driving member; 20. a palm structure; 200. a body.
Detailed Description
To facilitate an understanding of the utility model, the utility model will now be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the present invention provides a robot, which includes a body 200 and a robot arm 100 connected to the body 200, where the robot arm 100 includes a robot limb 10 and a palm structure 20 connected to the robot limb 10, the palm structure 20 is used to implement grabbing, releasing and the like, and the robot limb 10 is used to drive the palm structure 20 to move.
Referring to fig. 1-2, the present invention provides a mechanical limb 10, the mechanical limb 10 comprising: an upper arm structure 11, a lower arm structure 12, an elbow joint structure 13, and a shoulder joint structure 14; the large arm structure 11 includes a first arm 111, a second arm 112 and a first driving element 113, the first driving element 113 is disposed on the first arm 111, and a power end of the first driving element 113 is connected to the second arm 112, the first driving element 113 drives the second arm 112 to rotate around a first axis, the first axis is from the first arm 111 to the second arm 112; the small arm structure 12 includes a third arm 121, a fourth arm 122 and a second driving element 123, the second driving element 123 is disposed on the third arm 121, and a power end of the second driving element 123 is connected to the fourth arm 122, the second driving element 123 drives the second arm 112 to rotate around a second axis, and the second axis is from the third arm 121 to the fourth arm 122; the elbow joint structure 13 includes a third driving element 131, the third driving element 131 is disposed on the second arm 112, a power end of the third driving element 131 is connected to the third arm 121, the third driving element 131 drives the third arm 121 to rotate around a third axis, and the third axis is perpendicular to the first axis; the shoulder joint structure 14 includes a connecting member 141, a fourth driving member 142 and a fifth driving member 143, the fourth driving member 142 is disposed on the connecting member 141, an output end of the fourth driving member 142 is connected to the first arm 111, and the fourth driving member 142 drives the first arm 111 to rotate around a fourth axis; the output end of the fifth driving element 143 is connected with the connecting element 141, the fixed end of the fifth driving element 143 is used for being connected with the robot body 200, the fifth driving element 143 drives the connecting element 141 to rotate around the fifth axis, and the fourth axis, the fifth axis and the first axis are perpendicular to each other.
In the present invention, the assembly of the mechanical limb 10 and the body 200 is achieved by arranging the fifth driving element 143 of the shoulder joint structure 14 on the body 200, and the mechanical limb 10 is located beside the body 200; therefore, when the fifth driving element 143 drives the connecting element 141 to rotate around the fifth axis, the mechanical arm 100 can move along the front-back direction of the body 200; when the fourth driving part 142 drives the first arm body 111 to rotate around the fourth axis, the large arm structure 11, the elbow joint structure 13 and the small arm structure 12 can be moved to the left (right) side of the trunk 200 as a whole; when the first driving piece 113 drives the second arm body 112 to rotate around the first axis, the second arm body 112, the elbow joint structure 13 and the small arm structure 12 can be enabled to rotate relative to the first arm body 111 as a whole; when the third driving element 131 drives the third arm 121 around the third axis, the third arm 121 of the small arm structure 12 can rotate relative to the second arm 112 of the large arm structure 11, so as to enable the small arm structure 12 to approach and move away from the large arm structure 11; when the second driving element 123 drives the fourth arm 122 to rotate around the second axis, the fourth arm 122 of the small arm structure 12 can be enabled to rotate relative to the third arm 121; by applying the technical scheme, the mechanical limb 10 has five degrees of freedom, so that a highly humanoid effect is achieved, the palm structure 20 is driven to flexibly move, and the technical problem that the controllability of the robot arm is influenced due to the fact that the degree of freedom of the robot arm is small in the prior art is solved.
In some specific embodiments, the first driving member 113 drives the second arm 112 to rotate in a range of 0-360 degrees.
In some specific embodiments, the second driving element 123 drives the fourth arm 122 to rotate in a range of 0-360 degrees.
In some specific embodiments, the third driving element 131 drives the third arm 121 to rotate in a range of 0 to 160 degrees, so as to avoid interference between the small arm structure 12 and the large arm structure 11.
In some specific embodiments, the fourth driving member 142 drives the first arm 111 to rotate in a range of 0 to 180 degrees, so as to prevent the first arm 111 from interfering with the body 200.
In some embodiments, the fifth driving member 143 drives the connecting member 141 to rotate in a range of 0-360 degrees.
In one embodiment, referring to fig. 2, the first arm 111 is formed with a first mounting groove 1111, the second arm 112 is formed with a second mounting groove 1121, the first mounting groove 1111 and the second mounting groove 1121 together form a first mounting cavity, and the first driving member 113 is received in the first mounting cavity.
In the present embodiment, not only the first mounting groove 1111 of the first arm 111 is used to limit the peripheral side of the first driving element 113, but also the second mounting groove 1121 of the second arm 112 is used to limit the peripheral side of the first driving element 113, so that on one hand, the first driving element 113 is stably mounted with respect to the first arm 111, on the other hand, the stability of the connection between the power end of the first driving element 113 and the second arm 112 is improved, the second arm 112 is prevented from swinging during rotation, and the second arm 112 is ensured to stably rotate with respect to the first arm 111.
In one embodiment, the first arm 111 is formed with a first annular groove disposed around the first mounting groove 1111; a first annular protruding strip is formed on the second arm 112, and the first annular protruding strip is disposed around the second mounting groove 1121; the first annular protruding strip is contained in the first annular groove, and the first annular protruding strip can move along the extending path of the first annular groove.
In this embodiment, the first annular protrusion of the second arm 112 is received in the first annular groove of the first arm 111 to block the gap formed between the first arm 111 and the second arm 112, so as to isolate the first driving member 113 from the outside, avoid the interference of the external impurities on the driving rotation of the first driving member 113, and ensure the normal operation of the first driving member 113.
In one embodiment, referring to fig. 2, the third arm 121 is formed with a third mounting groove 1211, the fourth arm 122 is formed with a fourth mounting groove 1221, the third mounting groove 1211 and the fourth mounting groove 1221 together form a second mounting cavity, and the second driving member 123 is received in the second mounting cavity.
In the present embodiment, not only the third mounting groove 1211 of the third arm 121 defines the peripheral side of the second driving element 123, but also the fourth mounting groove 1221 of the fourth arm 122 defines the peripheral side of the second driving element 123, so that on one hand, the second driving element 123 is stably mounted with respect to the third arm 121, on the other hand, the stability of the connection between the power end of the second driving element 123 and the fourth arm 122 is improved, the fourth arm 122 is prevented from deflecting during rotation, and the stable rotation of the fourth arm 122 with respect to the third arm 121 is ensured.
In one embodiment, the third arm 121 is formed with a second annular groove disposed around the third mounting groove 1211; a second annular convex strip is formed on the fourth arm body 122, and the second annular convex strip is arranged around the fourth mounting groove 1221; the second annular protruding strip is contained in the second annular groove, and the second annular protruding strip can move along the extending path of the second annular groove.
In this embodiment, the second annular protruding strip of the fourth arm 122 is received in the second annular groove of the third arm 121, so as to block the gap formed between the third arm 121 and the fourth arm 122, so as to isolate the second driving member 123 from the outside, thereby preventing the driving rotation of the second driving member 123 from being interfered by the external impurities, and ensuring the normal operation of the second driving member 123.
In one embodiment, referring to fig. 2, the connecting element 141 includes a first connecting portion 1411 disposed inside the first arm 111 and a second connecting portion 1412 extending from the first connecting portion 1411 to the outside of the first arm 111, the first connecting portion 1411 is connected to the fourth driving element 142, and the second connecting portion 1412 is connected to the power output end of the fifth driving element 143.
In the present embodiment, the first connection portion 1411 of the connection member 141 is disposed on the first arm 111, so that the relative position between the connection member 141 and the first arm 111 is limited, and the overall stability of the mechanical limb 10 is improved; the first connecting part 1411 extends to form a second connecting part 1412 outside the first arm body 111, so that the shoulder joint structure 14 is connected with the body 200 through the second connecting part 1412, and interference between the mechanical limb arm 10 and the body 200 can be avoided.
In one embodiment, referring to fig. 2 and 3, the third arm 121 forms a first clamping portion 1212 and a second clamping portion 1213 spaced from each other toward the second arm 112, and the first clamping portion 1212 is formed with a first rotation hole; the second arm body 112 protrudes toward the third arm body 121 to form a third clamping portion 1122 and a fourth clamping portion 1123 which are oppositely spaced, the third clamping portion 1122 and the fourth clamping portion 1123 are positioned between the first clamping portion 1212 and the second clamping portion 1213, the third driving member 131 is arranged between the third clamping portion 1122 and the fourth clamping portion 1123, and a power end of the third driving member 131 passes through the fourth connecting portion and is connected with the second clamping portion 1213; a first boss 11221 is formed on one side of the third clamping portion 1122 away from the fourth clamping portion 1123, and the first boss 11221 is arranged in the first rotary hole in a penetrating manner.
In the embodiment, the third clamping portion 1122 and the fourth clamping portion 1123 jointly limit the two opposite ends of the driving member, so that the stability of the third driving member 131 arranged on the second arm 112 is improved; meanwhile, a first clamping portion 1212 and a second clamping portion 1213 are formed through the third arm body 121, the third clamping portion 1122 and the fourth clamping portion 1123 are located between the first clamping portion 1212 and the second clamping portion 1213, so that the power end of the third driving member 131 can be connected to the second clamping portion 1213 after passing through the fourth clamping portion 1123, a first rotation hole is formed by the first clamping portion 1212, and a first boss 11221 formed by the third clamping portion 1122 is inserted into the first rotation hole, therefore, when the power end of the third driving member 131 drives the first clamping portion 1212 to rotate, the second clamping portion 1213 can also rotate synchronously with the first clamping portion 1212 under the movable connection between the first boss 11221 and the first rotation hole, so as to drive the third arm body 121 to rotate stably.
In one embodiment, referring to fig. 2 and 3, the wrist structure 13 further includes a deceleration component 132, the deceleration component 132 is fixed on a side of the fourth clamping portion 1123 away from the third clamping portion 1122, the deceleration component 132 is connected to the power end of the third driving member 131, and the deceleration component 132 is formed with a second boss 1321; the second clamping portion 1213 is connected to the output end of the speed reducing assembly 132, and a second rotating hole is formed in the second clamping portion 1213, and the second boss 1321 is inserted into the second rotating hole.
In this embodiment, the elbow joint structure 13 further includes a speed reducing assembly 132, the speed reducing assembly 132 is connected to the power end of the third driving element 131, and the output end of the speed reducing assembly 132 is connected to the second clamping portion 1213, so as to increase the output torque of the third driving element 131 and increase the load capacity of the small arm structure 12. In addition, the speed reducing assembly 132 is further formed with a second boss 1321, and the second boss 1321 is disposed through the second rotation hole of the second clamping portion 1213 to support the second clamping portion 1213 to rotate stably relative to the speed reducing assembly 132.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A mechanical limb, comprising:
the large arm structure comprises a first arm body, a second arm body and a first driving piece, wherein the first driving piece is arranged on the first arm body, the power end of the first driving piece is connected with the second arm body, the first driving piece drives the second arm body to rotate around a first axis, and the first axis points to the second arm body from the first arm body;
the small arm structure comprises a third arm body, a fourth arm body and a second driving piece, the second driving piece is arranged on the third arm body, the power end of the second driving piece is connected with the fourth arm body, the second driving piece drives the fourth arm body to rotate around a second axis, and the second axis points to the fourth arm body from the third arm body;
the elbow joint structure comprises a third driving piece, the third driving piece is arranged on the second arm body, the power end of the third driving piece is connected with the third arm body, the third driving piece drives the third arm body to rotate around a third axis, and the third axis is perpendicular to the first axis;
the shoulder joint structure comprises a connecting piece, a fourth driving piece and a fifth driving piece, the fourth driving piece is arranged on the connecting piece, the output end of the fourth driving piece is connected with the first arm body, and the fourth driving piece drives the first arm body to rotate around a fourth axis; the output end of the fifth driving piece is connected with the connecting piece, the fixed end of the fifth driving piece is used for being connected with a robot body, the fifth driving piece drives the connecting piece to rotate around a fifth axis, and the fourth axis, the fifth axis and the first axis are perpendicular to each other.
2. The mechanical limb of claim 1, wherein said first arm body is formed with a first mounting slot, said second arm body is formed with a second mounting slot, said first mounting slot and said second mounting slot together forming a first mounting cavity, said first drive member being received within said first mounting cavity.
3. The mechanical limb of claim 2, wherein said first arm body is formed with a first annular groove disposed around said first mounting slot;
a first annular convex strip is formed on the second arm body and arranged around the second mounting groove;
the first annular protruding strip is contained in the first annular groove, and the first annular protruding strip can move along the extending path of the first annular groove.
4. The mechanical limb of claim 2, wherein said third arm body is formed with a third mounting slot, said fourth arm body is formed with a fourth mounting slot, said third mounting slot and said fourth mounting slot together forming a second mounting cavity, said second drive member being received within said second mounting cavity.
5. The mechanical limb of claim 4, wherein said third arm body is formed with a second annular groove disposed around said third mounting groove;
a second annular convex strip is formed on the fourth arm body and arranged around the fourth mounting groove;
the second annular protruding strip is contained in the second annular groove, and the second annular protruding strip can move along the extending path of the second annular groove.
6. The mechanical limb of claim 1, wherein the linkage comprises a first linkage portion disposed within the first arm body and a second linkage portion extending from the first linkage portion and outside the first arm body, the first linkage portion being coupled to the fourth driving member, the second linkage portion being coupled to the power take-off of the fifth driving member.
7. The mechanical limb of claim 1, wherein the third arm body forms first and second opposed spaced apart clamp portions toward the second arm body, the first clamp portion being formed with a first pivot hole;
a third clamping portion and a fourth clamping portion which are opposite and spaced are formed in a protruding mode, facing the third arm body, of the second arm body, the third clamping portion and the fourth clamping portion are located between the first clamping portion and the second clamping portion, the third driving piece is arranged between the third clamping portion and the fourth clamping portion, and a power end of the third driving piece penetrates through the fourth clamping portion and is connected with the second clamping portion; one side of the third clamping part, which is far away from the fourth clamping part, is formed with a first boss, and the first boss penetrates through the first rotating hole.
8. The robotic limb of claim 7, wherein the elbow joint structure further comprises a speed reduction assembly secured to a side of the fourth clamping portion remote from the third clamping portion, the speed reduction assembly coupled to the power end of the third drive member, the speed reduction assembly defining a second boss;
the second clamping part is connected with the output end of the speed reduction assembly, a second rotating hole is formed in the second clamping part, and the second boss penetrates through the second rotating hole.
9. A robot arm, characterized in that it comprises a palm structure and a robot arm according to any of claims 1-8, and that the palm structure is connected to the forearm structure.
10. A robot characterized in that it comprises a robot arm according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220503672.4U CN216940773U (en) | 2022-03-07 | 2022-03-07 | Mechanical arm, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220503672.4U CN216940773U (en) | 2022-03-07 | 2022-03-07 | Mechanical arm, mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216940773U true CN216940773U (en) | 2022-07-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220503672.4U Active CN216940773U (en) | 2022-03-07 | 2022-03-07 | Mechanical arm, mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216940773U (en) |
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2022
- 2022-03-07 CN CN202220503672.4U patent/CN216940773U/en active Active
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