CN217345492U - Light mechanical arm - Google Patents
Light mechanical arm Download PDFInfo
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- CN217345492U CN217345492U CN202221062666.6U CN202221062666U CN217345492U CN 217345492 U CN217345492 U CN 217345492U CN 202221062666 U CN202221062666 U CN 202221062666U CN 217345492 U CN217345492 U CN 217345492U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The application discloses light arm includes: the device comprises a base joint, a driving large arm, an auxiliary large arm, a middle joint, a driving small arm, an auxiliary small arm and a wrist joint; one end of the driving large arm and one end of the auxiliary large arm are respectively connected to two sides of the base joint in a rotating mode, and the other end of the driving large arm and the other end of the auxiliary large arm are connected with the middle joint; the middle joint comprises a middle joint driving part and a middle joint output shaft, the middle joint driving part is connected with the middle joint output shaft through a synchronous belt, power is transmitted in a flexible driving mode through the synchronous belt, starting impact of the mechanical arm can be reduced, the driving small arm and the auxiliary small arm are connected with the middle joint and the wrist joint respectively, and a rotating shaft for connecting the end effector is arranged at one end, far away from the middle joint, of the wrist joint. Compared with the installation mode of a joint and a supporting arm in the traditional mechanical arm in a cantilever structure, the weight of the mechanical arm can be reduced on the premise of ensuring the sufficient integral rigidity and stability of the mechanical arm by driving the large arm and the small arm and assisting the large arm and the small arm, and the application range of the mechanical arm is further convenient to improve.
Description
Technical Field
The application relates to the field of mechanical arms, in particular to a light mechanical arm.
Background
The mechanical arm is a common displacement control device in the industrial field, and can replace manual work to complete dangerous or boring work such as painting, welding, assembling and carrying.
However, the existing mechanical arm is large in mass, heavy in structure and large in starting impact, and cannot be applied to some special fields, especially some fields with severe environments, such as a portable anti-terrorist explosive-handling robot and the like.
SUMMERY OF THE UTILITY MODEL
The application aims at providing a light-duty arm, can effectively reduce its weight and start to strike for a short time, and then improve its range of application.
In order to solve the technical problem, the application provides the following technical scheme:
a light-weight robotic arm comprising: the device comprises a base joint, a driving large arm, an auxiliary large arm, a middle joint, a driving small arm, an auxiliary small arm and a wrist joint;
one ends of the driving large arm and the auxiliary large arm are respectively and rotatably connected to two sides of the base joint, and the other ends of the driving large arm and the auxiliary large arm are respectively connected to two sides of the lower part of the middle joint;
the middle joint comprises a middle joint driving part and a middle joint output shaft, the middle joint driving part is connected with the middle joint output shaft through a synchronous belt, the middle joint output shaft is located on one side of the upper portion of the middle joint, one end of the driving small arm is connected with the middle joint output shaft, one end of the auxiliary small arm is rotatably connected to the other side of the upper portion of the middle joint, the other ends of the driving small arm and the auxiliary small arm are respectively connected to two sides of the wrist joint, and a rotating shaft for connecting an end effector is arranged at one end, far away from the middle joint, of the wrist joint.
Preferably, the outer side surface of the driving large arm is hermetically connected with a driving large arm covering part, the outer side surface of the auxiliary large arm is hermetically connected with an auxiliary large arm covering part, the outer side surface of the driving small arm is hermetically connected with a driving small arm covering part, and the outer side surfaces of the auxiliary small arms are respectively hermetically connected with auxiliary small arm covering parts.
Preferably, the base joint includes base casing and is located base motor, base harmonic speed reducer ware in the base casing, the base motor is used for passing through base harmonic speed reducer ware control the big arm of drive rotates, the big arm covering of drive is used for right the big arm of drive with the junction of base harmonic speed reducer's output shaft covers sealedly, supplementary big arm covering is used for right the wire that stretches out in the base casing covers sealedly.
Preferably, the middle joint comprises a middle joint shell, a middle joint motor and a middle joint harmonic reducer, the middle joint motor and the middle joint harmonic reducer are located in the middle joint shell, the synchronous belt comprises a first synchronous belt and a second synchronous belt, the middle joint motor is connected with an input shaft of the middle joint harmonic reducer through the first synchronous belt, and an output shaft of the middle joint harmonic reducer is connected with an output shaft of the middle joint through the second synchronous belt.
Preferably, the middle joint output shaft is provided with a first wire passing hole coaxial with the middle joint output shaft, and the driving small arm covering part is covered on the outer side of the first wire passing hole.
Preferably, one end of the driving small arm is sleeved on the middle joint output shaft, a through hole for connecting a fastening screw is formed in the side wall of the driving small arm, a groove corresponding to the through hole is formed in the middle joint output shaft, and the tail end of the fastening screw is abutted against the groove to limit axial movement of the driving small arm relative to the middle joint output shaft.
Preferably, an electric connector used for being connected with the end effector is arranged on the small driving arm.
Preferably, the wrist joint comprises a wrist joint seat and a wrist joint gear motor arranged in the wrist joint seat, a tail end mounting plate is arranged on a wrist joint shaft of the wrist joint gear motor, and the tail end mounting plate is detachably connected with a tail end actuator.
Preferably, the driving small arm and the wrist joint seat are provided with coaxial second wire passing holes.
Preferably, a Picatinny guide rail is arranged on the wrist joint seat.
Compared with the prior art, the technical scheme has the following advantages:
the application provides a light arm, includes: the device comprises a base joint, a driving large arm, an auxiliary large arm, a middle joint, a driving small arm, an auxiliary small arm and a wrist joint; one ends of the driving large arm and the auxiliary large arm are respectively and rotatably connected to two sides of the base joint, and the other ends of the driving large arm and the auxiliary large arm are respectively connected to two sides of the lower part of the middle joint; the middle joint comprises a middle joint driving part and a middle joint output shaft, the middle joint driving part is connected with the middle joint output shaft through a synchronous belt, power is transmitted in a flexible driving mode through the synchronous belt, starting impact of the mechanical arm can be reduced, the middle joint output shaft is located on one side of the upper portion of the middle joint, one end of the driving small arm is connected with the middle joint output shaft, one end of the auxiliary small arm is rotatably connected to the other side of the upper portion of the middle joint, the other ends of the driving small arm and the auxiliary small arm are connected to two sides of the wrist joint respectively, and a rotating shaft for connecting an end effector is arranged at one end, far away from the middle joint, of the wrist joint. The driving big arm is controlled to rotate around the base joint through the base joint, the auxiliary big arm can rotate along with the driving big arm, the driving small arm can be controlled to rotate around the middle joint through the middle joint, the auxiliary small arm can rotate along with the driving small arm, the end effector can be controlled to rotate around the rotating shaft through the wrist joint, and therefore position adjustment can be carried out on the end effector through the base joint, the middle joint and the wrist joint. Secondly for joint and support arm in traditional arm with cantilever structure mounting means, this application can reduce the weight of arm under the prerequisite of guaranteeing the sufficient bulk rigidity of arm and stability through drive big, forearm and supplementary big, forearm, and then be convenient for improve its range of application.
Drawings
In order to more clearly illustrate the technical solutions in the present application or prior art, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a light robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of the structure with the cover removed;
FIG. 3 is a cross-sectional view of the base joint;
FIG. 4 is a cross-sectional structural view of the middle joint;
FIG. 5 is a schematic view of the connection structure of the driving small arm and the middle joint;
FIG. 6 is a cross-sectional view of a wrist joint;
fig. 7 is a schematic axial view of the wrist joint.
The reference numbers are as follows:
1-a base joint; 2-driving the big arm; 3-driving the large arm covering part; 4-auxiliary big arm; 5-auxiliary large arm covering piece; 6-the middle joint; 7-driving the small arm; 8-driving the forearm cover; 9-auxiliary forearm; 10-auxiliary forearm cover; 11-wrist joint; 12-an end effector; 13-a first screw; 14-a second screw; 15-a third screw; 701-an electrical connector; 702-reserve an extension electrical connector;
101-a base housing; 102-base harmonic reducer; 103-a bearing cage; 104-angular contact ball bearings; 105-a base motor output shaft; 106-base motor; 107-drive plate mounting; 108-a drive plate; 109-base side gasket; 110-a base cover plate; 111-screw gasket; 112-big arm seal; 113-a wire; 114-base greige circle;
201-fastening screws; 202-left cover plate; 203-left side gasket; 204-middle joint shell; 205-middle joint output synchronizing wheel; 206-middle joint output shaft; 2061-a first via hole; 207-middle joint motor; 208-middle joint motor output shaft; 209-motor synchronizing wheel; 210-narrow synchronous belt; 211-reducer input synchronizing wheel; 212-middle joint harmonic reducer input shaft; 213-middle joint harmonic reducer; 214-reducer output synchronizing wheel; 215-middle joint harmonic reducer output shaft; 216-wide synchronous belt; 217-right cover plate;
301-end mounting plate; 302-wrist joint seat; 303-wrist joint gear motor; 304-wrist side gasket; 305-wrist joint cover plate; 306-a rotating shaft; 307-wrist Glare circle; 3011-installing a threaded hole; 3012-square and flat; 3021-Picatinny rail; 3022-second wire through hole.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings.
In the following description, specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import to those skilled in the art without departing from the spirit and scope of this application. The present application is therefore not limited to the specific embodiments disclosed below.
Referring to fig. 1 to 7, fig. 1 is a schematic structural diagram of a light robot according to an embodiment of the present disclosure; FIG. 2 is a schematic view of the structure with the cover removed; FIG. 3 is a cross-sectional view of the base joint; FIG. 4 is a cross-sectional structural view of the middle joint; FIG. 5 is a schematic view of the connection structure of the driving small arm and the middle joint; FIG. 6 is a cross-sectional view of a wrist joint;
fig. 7 is a schematic axial view of the wrist joint.
A specific embodiment of this application provides a light-duty arm, can carry on moving platform to constitute portable explosive ordnance disposal robot, light-duty arm includes: the device comprises a base joint 1, a driving large arm 2, an auxiliary large arm 4, a middle joint 6, a driving small arm 7, an auxiliary small arm 9 and a wrist joint 11; one ends of the driving large arm 2 and the auxiliary large arm 4 are respectively and rotatably connected to two sides of the base joint 1, and the other ends of the driving large arm 2 and the auxiliary large arm 4 are respectively connected to two sides of the lower part of the middle joint 6; the middle joint 6 comprises a middle joint 6 driving part and a middle joint 6 output shaft, the middle joint 6 driving part is connected with the middle joint 6 output shaft through a synchronous belt, power is transmitted through a flexible driving mode of the synchronous belt, the starting impact of the mechanical arm can be reduced, the output shaft of the middle joint 6 is positioned at one side of the upper part of the middle joint 6, one end of the driving small arm 7 is connected with the output shaft of the middle joint 6, one end of the auxiliary small arm 9 is rotatably connected at the other side of the upper part of the middle joint 6, the other ends of the driving small arm 7 and the auxiliary small arm 9 are respectively connected at two sides of the wrist joint 11, one end of the wrist joint 11 far away from the middle joint 6 is provided with a rotating shaft for connecting an end effector 12, the end effector 12 can be a grabbing module, a shearing module or a cutting module and the like, the mechanical and electrical interfaces of each module are designed to be identical so as to facilitate quick replacement, and therefore different modules can be replaced according to use occasions and functional requirements. The driving large arm 2 is controlled to rotate around the base joint 1 through the base joint 1, the auxiliary large arm 4 can rotate along with the driving large arm 2, the driving small arm 7 can be controlled to rotate around the middle joint 6 through the middle joint 6, the auxiliary small arm 9 can rotate along with the driving small arm 7, the end effector 12 can be controlled to rotate around a rotating shaft through the wrist joint 11, therefore, the position of the end effector 12 can be adjusted through the base joint 1, the middle joint 6 and the wrist joint 11, of course, the rotating ranges of the driving large arm 2 and the driving small arm 7 can also be selectively controlled, for example, the rotating range of the driving large arm 2 is limited to be 0-180 degrees in driving software, and the rotating range of the driving small arm 7 is limited to be 0-210 degrees. Secondly for joint and support arm in traditional arm with cantilever structure mounting means, this application can reduce the weight of arm under the prerequisite of guaranteeing the sufficient bulk rigidity of arm and stability through drive big, forearm and supplementary big, forearm, and then be convenient for improve its range of application.
In some embodiments, the outer side surface of the driving large arm 2 is hermetically connected with a driving large arm covering part 3, the outer side surface of the auxiliary large arm 4 is hermetically connected with an auxiliary large arm covering part 5, the outer side surface of the driving small arm 7 is hermetically connected with a driving small arm covering part 8, and the outer side surfaces of the auxiliary small arms 9 are respectively hermetically connected with auxiliary small arm covering parts 10. Through each covering, except can protecting the arm, still can cover the protection with the cable of arm to reach waterproof dirt-proof effect, and then improve the adaptability of arm to adverse circumstances.
In some embodiments, as shown in fig. 3, the base joint 1 includes a base housing 101, and a base motor 106 and a base harmonic reducer 102 located in the base housing 101, wherein the base motor 106 is used for controlling and driving the large arm 2 to rotate through the base harmonic reducer 102. The driving large arm cover 3 is used for covering and sealing the joint of the driving large arm 2 and the output shaft of the base harmonic reducer 102, and the auxiliary large arm cover 5 is used for covering and sealing the lead 113 extending out of the base housing 101. A bearing retainer 103 is arranged in the base shell 101, an angular ball bearing 104 is arranged at the right end of the bearing retainer 103, an output shaft 105 of a base motor 106 is connected with the angular ball bearing 104, the bearing retainer 103 is connected in the base shell 101 through a fastening screw, a counter bore for accommodating the head of the fastening screw is arranged at the left end of the base shell 101, in order to ensure the connection sealing performance, a screw sealing pad 111 sleeved on a fastening screw is arranged in a counter bore, one end of a driving large arm 2 is connected with an output shaft of a base harmonic reducer 102 through a first screw 13, the other end of the driving large arm is connected with a middle joint 6 through a second screw 14, one end of a driving large arm covering part 3 is connected with the driving large arm 2 through the fastening screw, large arm sealing strips 112 are respectively arranged between the driving large arm covering part 3 and the driving large arm 2 and between an auxiliary large arm covering part 5 and an auxiliary large arm 4, and a base Glare ring 114 is arranged between the driving large arm 2 and the inner side of the left end of a base shell 101; the right end of the base motor 106 is provided with a drive board mounting bracket 107 for mounting a drive board 108, the right end of the base housing 101 is provided with a base cover plate 110, and a base side gasket 109 is provided between the base cover plate 110 and the base housing 101. The screw gasket 111, the base gurley 114, and the base side gasket 109 effectively seal the base joint 1 to provide dust-proof and water-proof capabilities.
In some embodiments, as shown in fig. 4, the middle joint 6 includes a middle joint housing 204, and a middle joint motor 207 and a middle joint harmonic reducer 213 which are located in the middle joint housing 204, the middle joint motor 207 and a middle joint output shaft 206 are located at the upper part in the middle joint housing 204, the middle joint harmonic reducer 213 is located at the lower part in the middle joint housing 204, wherein the synchronous belts include a first synchronous belt and a second synchronous belt, the first synchronous belt and the second synchronous belt may be synchronous belts with the same or different specifications, for example, the first synchronous belt is a narrow synchronous belt 210, the second synchronous belt is a wide synchronous belt 216, the middle joint motor 207 is connected with the input shaft of the middle joint harmonic reducer 213 through the first synchronous belt, the middle joint motor output shaft 208 is provided with a motor synchronous wheel 209, the middle joint harmonic reducer input shaft 212 is provided with a reducer input synchronous wheel 211, the middle joint harmonic reducer output shaft 215 is connected with the middle joint output shaft 206 through the second synchronous belt, a reducer output synchronous wheel 214 is arranged on the middle joint harmonic reducer output shaft 215, and a middle joint output synchronous wheel 205 is arranged on the middle joint output shaft 206. The left side of the middle joint shell 204 is provided with a left cover plate 202, the right side is provided with a right cover plate 217, a left sealing gasket 203 is arranged between the left cover plate 202 and the middle joint shell 204, and a right sealing gasket is arranged between the right cover plate 217 and the middle joint shell 204. The middle joint output shaft 206 is provided with a first wire through hole 2061 coaxial with the middle joint output shaft, so that the middle joint cable can be conveniently routed, and the driving small arm covering part 8 is covered outside the first wire through hole 2061.
As shown in fig. 5, in order to facilitate connection between the driving small arm 7 and the middle joint output shaft 206, one end of the driving small arm 7 is sleeved on the middle joint output shaft 206, the driving small arm 7 and the middle joint output shaft 206 can be assembled by a spline, a square flat or other modes capable of limiting relative rotation of the driving small arm and the middle joint output shaft 206, a through hole for connecting a fastening screw 201 is arranged on a side wall of the driving small arm 7, a groove corresponding to the through hole is arranged on the output shaft of the middle joint 6, and the tail end of the fastening screw 201 is used for abutting against the groove to limit axial movement of the driving small arm 7 relative to the middle joint output shaft 206. Wherein the fixation may be performed by a plurality of set screws 201. In addition, an electric connector 701 for connecting with the end effector 12 is arranged on the driving forearm 7, and the electric connector 701 is a power line and signal line interface reserved for each functional module, preferably a navigation socket; a reserved expansion electrical connector 702 may further be added.
In some embodiments, as shown in fig. 6 and 7, the wrist joint 11 includes a wrist joint seat 302 and a wrist joint deceleration motor 303 disposed in the wrist joint seat 302, a wrist joint cover plate 305 is disposed at a right end of the wrist joint 11, a wrist joint side sealing pad 304 is disposed between the wrist joint cover plate and the wrist joint seat, an end mounting plate 301 is disposed on a rotating shaft 306 of the wrist joint deceleration motor 303, the rotating shaft 306 may be connected to the end mounting plate 301 through a square flat 3012, the end mounting plate 301 is configured to be detachably connected to the end effector 12, and specifically, a plurality of mounting threaded holes 3011 may be disposed on the end mounting plate 301. A wrist joint GREEN 307 is arranged between the rotating shaft 306 and the wrist joint seat 302, and the inside of the wrist joint 11 can be sealed through the wrist joint side sealing gasket 304 and the wrist joint GREEN 307. The driving forearm 7 and the wrist joint seat 302 are provided with a second coaxial wire through hole 3022, so that a power wire and a control wire of the motor can be transmitted to the inside of the wrist joint 11 through the second wire through hole 3022, and the driving forearm 7 is fixedly connected with the wrist joint seat 302 through a third screw 15. In addition, a picatinny guide rail 3021 is disposed on the wrist joint base 302 to facilitate installation of various investigation equipment, such as a palm camera, a laser ranging device, and a fusion optical device, and to provide more feasibility for subsequent function expansion, the reserved expansion electrical connector 702 may provide power and signal transmission for the investigation equipment, and the reserved expansion electrical connector 702 is preferably a navigation socket.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A light robot arm, comprising: the device comprises a base joint, a driving large arm, an auxiliary large arm, a middle joint, a driving small arm, an auxiliary small arm and a wrist joint;
one ends of the driving large arm and the auxiliary large arm are respectively and rotatably connected to two sides of the base joint, and the other ends of the driving large arm and the auxiliary large arm are respectively connected to two sides of the lower part of the middle joint;
the middle joint comprises a middle joint driving part and a middle joint output shaft, the middle joint driving part is connected with the middle joint output shaft through a synchronous belt, the middle joint output shaft is located on one side of the upper portion of the middle joint, one end of the driving small arm is connected with the middle joint output shaft, one end of the auxiliary small arm is rotatably connected to the other side of the upper portion of the middle joint, the other ends of the driving small arm and the auxiliary small arm are respectively connected to two sides of the wrist joint, and a rotating shaft for connecting an end effector is arranged at one end, far away from the middle joint, of the wrist joint.
2. The light mechanical arm according to claim 1, wherein a driving large arm covering part is hermetically connected to the outer side surface of the driving large arm, an auxiliary large arm covering part is hermetically connected to the outer side surface of the auxiliary large arm, a driving small arm covering part is hermetically connected to the outer side surface of the driving small arm, and auxiliary small arm covering parts are respectively hermetically connected to the outer side surfaces of the auxiliary small arms.
3. The light arm robot of claim 2, wherein the base joint comprises a base housing, and a base motor and a base harmonic reducer within the base housing; the base motor is used for controlling the driving large arm to rotate through the base harmonic reducer, the driving large arm covering piece is used for covering and sealing the joint of the driving large arm and the output shaft of the base harmonic reducer, and the auxiliary large arm covering piece is used for covering and sealing the lead extending out of the base shell.
4. The light mechanical arm according to claim 2, wherein the middle joint comprises a middle joint shell, a middle joint motor and a middle joint harmonic reducer, the middle joint motor and the middle joint harmonic reducer are located in the middle joint shell, the synchronous belt comprises a first synchronous belt and a second synchronous belt, the middle joint motor is connected with an input shaft of the middle joint harmonic reducer through the first synchronous belt, and an output shaft of the middle joint harmonic reducer is connected with an output shaft of the middle joint through the second synchronous belt.
5. The light mechanical arm as claimed in claim 4, wherein the middle joint output shaft is provided with a first wire through hole coaxial with the middle joint output shaft, and the driving small arm covering part is covered outside the first wire through hole.
6. The light mechanical arm as claimed in claim 4, wherein one end of the driving small arm is sleeved on the output shaft of the middle joint, a through hole for connecting a set screw is formed in a side wall of the driving small arm, a groove corresponding to the through hole is formed in the output shaft of the middle joint, and the tail end of the set screw is used for abutting against the groove to limit axial movement of the driving small arm relative to the output shaft of the middle joint.
7. The light robot arm of claim 1, wherein the drive arm has an electrical connector for connection to an end effector.
8. The light robot arm of any of claims 1 to 7, wherein the wrist joint comprises a wrist joint seat and a wrist joint deceleration motor arranged in the wrist joint seat, and an end mounting plate is arranged on a wrist joint shaft of the wrist joint deceleration motor and is used for being detachably connected with an end effector.
9. The lightweight robotic arm of claim 8, wherein said drive forearm and said wrist joint mount are provided with a second coaxial wire through hole.
10. The lightweight robotic arm of claim 8, wherein said wrist mount has picatinny guides thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221062666.6U CN217345492U (en) | 2022-05-06 | 2022-05-06 | Light mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221062666.6U CN217345492U (en) | 2022-05-06 | 2022-05-06 | Light mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217345492U true CN217345492U (en) | 2022-09-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221062666.6U Active CN217345492U (en) | 2022-05-06 | 2022-05-06 | Light mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217345492U (en) |
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2022
- 2022-05-06 CN CN202221062666.6U patent/CN217345492U/en active Active
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