CN217552406U - Four-axis arm and unmanned shop of selling goods - Google Patents
Four-axis arm and unmanned shop of selling goods Download PDFInfo
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- CN217552406U CN217552406U CN202220375634.5U CN202220375634U CN217552406U CN 217552406 U CN217552406 U CN 217552406U CN 202220375634 U CN202220375634 U CN 202220375634U CN 217552406 U CN217552406 U CN 217552406U
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Abstract
The utility model provides a four-axis arm and unmanned shop of selling goods, four-axis arm include vertical drive mechanism, horizontal motion mechanism and adsorption apparatus structure, and wherein horizontal motion mechanism includes: the rotary fixed seat is vertically arranged with the longitudinal driving mechanism and is connected with the longitudinal driving mechanism; the rotary primary arm is arranged in parallel with the rotary fixing seat and is rotationally connected with the rotary fixing seat through a first servo integrated motor; the rotary secondary arm is arranged in parallel with the rotary primary arm and is rotationally connected with the rotary primary arm through a second servo integrated motor; the adsorption mechanism is arranged below the rotary second-stage arm and is perpendicular to the rotary second-stage arm, and the adsorption mechanism is rotatably connected with the rotary second-stage arm through the reversing rotating mechanism. The utility model discloses its whole mechanism is simple, the cost is reduced, and its stability is higher, and the arm amplitude of oscillation is more accurate, can not take place to deflect, the control of being convenient for.
Description
Technical Field
The utility model relates to an arm technical field, more specifically say, relate to a four-axis arm and unmanned shop of selling goods.
Background
The mechanical arm has the function of simulating the paw and the arm of a person to finish certain actions, and can be used in various occasions such as an unmanned vending store, but the existing mechanical arm is complex in structure, low in stability when rotating and stopping in the horizontal direction, and particularly easy to deflect under the inertia of a heavy object.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a four-axis arm and unmanned shop of selling goods to solve among the prior art arm structure comparatively complicated, when the horizontal direction rotation stops, stability is not high, and takes place the technical problem who deflects easily.
In order to achieve the purpose, the utility model adopts the technical proposal that:
on the one hand, the utility model provides a four-axis arm, including vertical actuating mechanism, horizontal motion mechanism and adsorption apparatus structure, wherein horizontal motion mechanism includes:
the rotary fixed seat is perpendicular to the longitudinal driving mechanism and is connected with the longitudinal driving mechanism;
the rotary primary arm is arranged in parallel with the rotary fixing seat and is rotationally connected with the rotary fixing seat through a first servo integrated motor;
the rotary secondary arm is parallel to the rotary primary arm and is rotationally connected with the rotary primary arm through a second servo integrated motor;
the adsorption mechanism is arranged below the rotary secondary arm and is perpendicular to the rotary secondary arm, and the adsorption mechanism is rotatably connected with the rotary secondary arm through the reversing rotating mechanism.
According to the four-axis mechanical arm, the rotary fixed seat is provided with a first cavity, one end of the rotary fixed seat is connected with the longitudinal driving mechanism, the first servo integrated motor is arranged in the first cavity and positioned at the other end of the rotary fixed seat, and the first servo integrated motor is connected with the rotary fixed seat and the rotary primary arm;
the rotary primary arm is of a plate type, one end of the rotary primary arm is connected with the first servo integrated motor, and the other end of the rotary primary arm is connected with the rotary secondary arm through the second servo integrated motor;
the rotary secondary arm is provided with a second cavity position, the second servo integrated motor is arranged in the second cavity position and located at one end, close to the rotary primary arm, of the rotary secondary arm, and the second servo integrated motor is connected with the rotary secondary arm and the rotary primary arm.
According to above-mentioned four-axis arm, the switching-over rotary mechanism include:
the first motor is arranged in the second cavity;
the right-angle speed reducer is arranged in the second cavity, and the first motor is connected with the right-angle speed reducer;
the bearing block is arranged below the rotary secondary arm and is connected with the rotary secondary arm;
the connecting shaft, the connecting shaft is located in the bearing frame, just the one end of connecting shaft with the right angle speed reducer linkage is connected, the other end of connecting shaft with adsorption apparatus constructs and connects.
The four-axis arm of aforesaid, adsorption apparatus constructs including:
the connecting seat is arranged at the bottom of the rotary secondary arm and is connected with the rotary secondary arm through the reversing rotating mechanism;
at least one adsorption component, adsorption component locates the bottom of connecting seat and with the connecting seat is connected.
According to above-mentioned four-axis arm, the adsorption component includes:
the hardware fitting is provided with a through hole and connected with the connecting seat, and one end of the hardware fitting is used for being connected with an external air compression pump;
the suction nozzle is arranged at the other end of the hardware fitting and is connected with the hardware fitting;
the sponge sucking disc, the sponge sucking disc cover is located the outside of suction nozzle and with the suction nozzle is connected.
According to the four-axis arm of the aforesaid, the gold utensil includes:
the connecting column is internally provided with the through hole, the connecting seat is provided with a connecting hole, and the connecting column penetrates through the connecting hole;
the limiting connecting part is arranged at one end of the connecting column and is fixedly connected with the connecting column, and the suction nozzle is connected to the connecting column through the limiting connecting part;
the elastic component is sleeved on the connecting column, and one end of the elastic component is abutted against the limiting connecting part;
the bolt sleeve is sleeved on the connecting column and is in sliding connection with the connecting column, the other end of the elastic component is abutted against the bolt sleeve, and the bolt sleeve is arranged in the connecting hole in a penetrating mode and is fixed on the connecting seat through a nut.
The four-axis arm of aforesaid, longitudinal drive mechanism includes:
a longitudinal fixed seat;
the second motor is arranged on the longitudinal fixed seat and is connected with the longitudinal fixed seat;
the second motor is connected with the screw rod;
the sliding block, the sliding block with vertical fixing base sliding connection, just one side of sliding block with the lead screw is connected, the opposite side of sliding block with rotatory fixing base is connected.
According to the four-axis mechanical arm, the longitudinal driving mechanism further comprises a drag chain for accommodating a cable;
and the longitudinal fixing seat is provided with a connecting block, and the drag chain is connected with the connecting block.
The four-axis arm, the four-axis arm still includes image acquisition equipment, image acquisition equipment locates the top of adsorption apparatus structure.
On the other hand, the utility model also provides an unmanned shop of selling goods, including the aforesaid four-axis arm.
The utility model provides a four-axis arm and unmanned shop of selling goods's beneficial effect lies in at least:
the utility model provides a four-axis arm and unmanned shop of selling goods, its whole mechanism is simple, the cost is reduced, and its stability is higher, and the arm amplitude of oscillation is more accurate, can not take place to deflect, the control of being convenient for.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following descriptions are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a first schematic structural diagram of a four-axis robot arm according to an embodiment of the present invention;
fig. 2 is an exploded schematic view of a four-axis mechanical arm according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an adsorption assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a four-axis mechanical arm provided by the embodiment of the utility model.
Wherein, in the figures, the respective reference numerals:
1000. a four-axis mechanical arm; 100. a longitudinal drive mechanism; 110. a longitudinal fixed seat; 111. connecting blocks; 120. a second motor; 130. a slider; 140. a drag chain; 200. a horizontal movement mechanism; 210. a rotating fixed seat; 211. a first cavity location; 220. rotating the primary arm; 230. a first servo integrated motor; 240. rotating the secondary arm; 241. a second cavity location; 250. a second servo integrated motor; 260. a reversing rotating mechanism; 261. a first motor; 262. a right-angle reducer; 263. a bearing seat; 264. a connecting shaft; 300. an adsorption mechanism; 310. a connecting seat; 311. connecting holes; 320. an adsorption component; 321. a hardware fitting; 3211. a through hole; 3212. connecting columns; 3213. a limit connecting part; 3214. an elastic member; 3215. a bolt sleeve; 1316. a nut; 322. a suction nozzle; 323. a sponge sucker; 400. an image acquisition device.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
Referring to fig. 1, the present embodiment provides a four-axis robot arm 1000, including a longitudinal driving mechanism 100, a horizontal moving mechanism 200, and an adsorbing mechanism 300, wherein the horizontal moving mechanism 200 includes: the rotary fixing seat 210 is perpendicular to the longitudinal driving mechanism 100 and is connected with the longitudinal driving mechanism 100; a primary rotary arm 220, wherein the primary rotary arm 220 is parallel to the rotary holder 210, and the primary rotary arm 220 is rotatably connected to the rotary holder 210 through a first servo integrated motor 230; the rotary secondary arm 240 is arranged in parallel with the rotary primary arm 220, and the rotary secondary arm 240 is rotatably connected with the rotary primary arm 220 through a second servo integrated motor 250; the adsorption mechanism 300 is disposed below the secondary rotary arm 240 and perpendicular to the secondary rotary arm 240, and the adsorption mechanism 300 is rotatably connected to the secondary rotary arm 240 via a reversing rotation mechanism 260.
The working principle of the four-axis mechanical arm 1000 provided by the embodiment is as follows:
in the four-axis mechanical arm 1000 provided in this embodiment, the longitudinal driving mechanism 100 may drive the horizontal moving mechanism 200 to move up and down, that is, drive the rotary fixing base 210, the rotary primary arm 220, the rotary secondary arm 240, and the adsorption mechanism 300 to move up and down; the relative rotation between the rotary primary arm 220 and the rotary fixing seat 210 is realized by the action of the first servo motor 230, the relative rotation between the rotary secondary arm 240 and the rotary primary arm 220 is realized by the action of the second servo motor 250, and the relative rotation between the rotary secondary arm 240 arranged in the horizontal direction and the adsorption mechanism 300 arranged in the vertical direction is realized by the action of the reversing rotation mechanism 260. The specific motion process is as follows: the horizontal moving mechanism 200 (the rotary fixing seat 210, the rotary first-stage arm 220 and the rotary second-stage arm 240) is driven to drive the adsorption mechanism 300 to move to the upper side of a commodity at a first preset position, the vertical driving mechanism 100 drives the horizontal moving mechanism 200 and the adsorption mechanism 300 to integrally move downwards, the adsorption mechanism 300 grabs the commodity, after the commodity is grabbed, the vertical driving mechanism 100 drives the horizontal moving mechanism 200 and the adsorption mechanism 300 to integrally move upwards, then the horizontal moving mechanism 200 is driven to drive the adsorption mechanism 300 to move to the upper side of a second preset position, the vertical driving mechanism 100 drives the horizontal moving mechanism 200 and the adsorption mechanism 300 to integrally move downwards, the commodity is put down, and the commodity is transferred from the first preset position to the second preset position.
The four-axis arm 1000 that this embodiment provided lies in at least:
the four-axis arm 1000 that this embodiment provided, its whole mechanism is simple, the cost is reduced, and its stability is higher, and the arm amplitude of oscillation is more accurate, can not take place to deflect, the control of being convenient for.
In a preferred embodiment, referring to fig. 2, the rotating holder 210 has a first cavity 211, one end of the rotating holder 210 is connected to the longitudinal driving mechanism 100, the first servo motor 230 is disposed in the first cavity 211 and located at the other end of the rotating holder 210, and the first servo motor 230 is connected to both the rotating holder 210 and the primary rotating arm 220;
the primary rotating arm 220 is a plate type, one end of the primary rotating arm 220 is connected to the first servo motor 230, and the other end of the primary rotating arm 220 is connected to the secondary rotating arm 240 through the second servo motor 250;
the rotating secondary arm 240 is provided with a second cavity 241, the second servo motor 250 is disposed in the second cavity 241 and is located at one end of the rotating secondary arm 240 close to the rotating primary arm 220, and the second servo motor 250 is connected to both the rotating secondary arm 240 and the rotating primary arm 220.
Set up first chamber position 211 on rotatory fixing base 210, can place first servo integrative motor 230 in rotatory fixing base 210, be equipped with second chamber position 241 on rotatory secondary arm 240, can place second servo integrative motor 250 in rotatory secondary arm 240 to make and to set up rotatory primary arm 220 into the plate formula, and then save material, also can alleviate the quality simultaneously.
In a preferred embodiment, referring to fig. 1, the reversing rotation mechanism 260 includes: a first motor 261, wherein the first motor 261 is disposed in the second cavity 241; a right-angle reducer 262, wherein the right-angle reducer 262 is disposed in the second cavity 241, and the first motor 261 is connected to the right-angle reducer 262; a bearing seat 263, wherein the bearing seat 263 is arranged below the rotary secondary arm 240, and the bearing seat 263 is connected with the rotary secondary arm 240; the connecting shaft 264 is arranged in the bearing seat 263, one end of the connecting shaft 264 is in linkage connection with the right-angle speed reducer 262, and the other end of the connecting shaft 264 is connected with the adsorption mechanism 300.
The right angle reducer 262 can become the rotation of vertical direction with the rotation of horizontal direction to realize that first motor 261 passes through right angle reducer 262 drive connecting axle 264 and rotates, connecting axle 264 rotates and drives adsorption apparatus 300 and rotate, and then realize adjusting the position of adsorption apparatus 300. The bearing seat 263 is provided to stably connect the connecting shaft 264 to the right-angle reducer 262, and to allow the connecting shaft 264 to operate smoothly when rotating.
Optionally, a notch (not shown in the figure, the same below) is formed in the right-angle speed reducer 262, a notch (not shown in the figure, the same below) is formed in the connecting shaft 264, and the linkage block is arranged in the notch and the notch, so that the right-angle speed reducer 262 is linked with the connecting shaft 264 to rotate, and further the adsorption mechanism 300 is linked to rotate.
In a preferred embodiment, referring to fig. 1, the adsorption mechanism 300 includes: the connecting seat 310 is arranged at the bottom of the rotating secondary arm 240 and connected with the reversing rotating mechanism 260; at least one suction member 320, the suction member 320 being disposed at the bottom of the connection holder 310 and connected to the connection holder 310.
Optionally, the suction mechanism 300 includes two suction assemblies 320. It should be understood that the number of the adsorption components 320 is not limited to the above case, and may be other cases, which are not limited herein.
In a preferred embodiment, referring to fig. 3, the adsorption element 320 includes: the hardware fitting 321 is provided with a through hole 3211, the hardware fitting 321 is connected with the connecting seat 310, and one end of the hardware fitting 321 is used for being connected with an external air compression pump; the suction nozzle 322 is arranged at the other end of the hardware fitting 321 and connected with the hardware fitting 321; and the sponge suction disc 323 is sleeved outside the suction nozzle 322 and is connected with the suction nozzle 322.
Because the hardware 321 is provided with the through hole 3211, the hardware 321 is connected with an external air compressor, the suction nozzle 322 can adsorb commodities under the action of the air compressor, and the end face of the sponge suction disc 323 is rough, so that the end face of the sponge suction disc is in contact with the commodities, the friction force is increased, and the commodities are adsorbed better.
In a preferred embodiment, referring to fig. 2 and 3, the metal fitting 321 includes: the connecting column 3212 is provided with the through hole 3211 in the connecting column 3212, the connecting seat 310 is provided with a connecting hole 311, and the connecting column 3212 penetrates through the connecting hole 311; the limiting connecting part 3213 is arranged at one end of the connecting column 3212 and is fixedly connected with the connecting column 3212, and the suction nozzle 322 is connected to the connecting column 3212 through the limiting connecting part 3213; the elastic component 3214 is sleeved on the connecting column 3212, and one end of the elastic component 3214 abuts against the limiting connection portion 3213; the bolt sleeve 3215 is sleeved on the connecting column 3212 and slidably connected to the connecting column 3212, the other end of the elastic member 3214 abuts against the bolt sleeve 3215, and the bolt sleeve 3215 is inserted into the connecting hole and fixed to the connecting seat 310 by a nut 1316.
The arrangement of the limit connection portion 3213 enables the suction nozzle 322 to be stably connected and fixed to the connection column 3212, and the arrangement of the elastic component 3214 enables the suction nozzle 322 and the sponge suction cup 323 to be retracted a little distance when contacting with the commodity, so as to better protect the commodity from being damaged.
Optionally, the resilient member 3214 is a spring. It should be understood that the elastic member 3214 is not limited to the above-mentioned spring, but may be other members, which are not limited herein.
In a preferred embodiment, referring to fig. 1, the longitudinal driving mechanism 100 includes: a longitudinal fixing base 110; the second motor 120 is arranged on the longitudinal fixing seat 110 and connected with the longitudinal fixing seat 110; a screw (not shown, the same applies below) to which the second motor 120 is connected; the sliding block 130 is slidably connected to the longitudinal fixing base 110, one side of the sliding block 130 is connected to the screw rod, and the other side of the sliding block 130 is connected to the rotary fixing base 210.
Under the action of the second motor 120, the sliding block 130 is driven by the lead screw to move up and down on the longitudinal fixing base 110, so that the synchronous up and down movement of the rotary fixing base 210, the rotary primary arm 220, the rotary secondary arm 240 and the adsorption mechanism 300 is realized.
In a preferred embodiment, referring to fig. 1, the longitudinal driving mechanism 100 further comprises a drag chain 140 for receiving a cable; the longitudinal fixing seat 110 is provided with a connecting block 111, and the drag chain 140 is connected with the connecting block 111.
In a preferred embodiment, referring to fig. 4, the four-axis robot 1000 further comprises an image capturing device 400, and the image capturing device 400 is disposed above the adsorption mechanism 300. The image collecting device 400 is used for collecting the position of the commodity, and the image collecting device 400 is arranged above the adsorption mechanism 300, so that the position of the commodity can be conveniently collected, and then the position of the commodity is positioned through the combined action of the second motor 120, the first servo motor 230, the second servo motor 250 and the reversing rotation mechanism 260, and the commodity is further grabbed. Optionally, the image capturing apparatus 400 is mounted on the connection holder 310.
The embodiment also provides an automatic vending store, which comprises the four-axis mechanical arm 1000. Since the four-axis robot 1000 has been described in detail above, it is not described herein.
In summary, the present embodiment provides a four-axis robot arm 1000, which includes a longitudinal driving mechanism 100, a horizontal moving mechanism 200 and an absorbing mechanism 300, wherein the horizontal moving mechanism 200 includes: the rotary fixing seat 210 is perpendicular to the longitudinal driving mechanism 100 and is connected with the longitudinal driving mechanism 100; a primary rotary arm 220, wherein the primary rotary arm 220 is parallel to the rotary holder 210, and the primary rotary arm 220 is rotatably connected to the rotary holder 210 through a first servo integrated motor 230; the rotary secondary arm 240 is arranged in parallel with the rotary primary arm 220, and the rotary secondary arm 240 is rotatably connected with the rotary primary arm 220 through a second servo integrated motor 250; the adsorption mechanism 300 is disposed below the rotary secondary arm 240 and perpendicular to the rotary secondary arm 240, and the adsorption mechanism 300 is rotatably connected to the rotary secondary arm 240 via a reversing rotation mechanism 260. The embodiment further provides an unmanned vending store, which comprises the four-axis mechanical arm 1000. The four-axis arm 1000 and the unmanned shop of selling goods that this embodiment provided, its whole mechanism is simple, the cost is reduced, and its stability is higher, and the arm amplitude of oscillation is more accurate, can not take place to deflect, the control of being convenient for.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a four-axis arm, its characterized in that includes longitudinal drive mechanism, horizontal motion mechanism and adsorption apparatus structure, wherein horizontal motion mechanism includes:
the rotary fixed seat is perpendicular to the longitudinal driving mechanism and is connected with the longitudinal driving mechanism;
the rotary primary arm is arranged in parallel with the rotary fixing seat and is rotationally connected with the rotary fixing seat through a first servo integrated motor;
the rotary secondary arm is parallel to the rotary primary arm and is rotationally connected with the rotary primary arm through a second servo integrated motor;
the adsorption mechanism is arranged below the rotary secondary arm and is perpendicular to the rotary secondary arm, and the adsorption mechanism is rotatably connected with the rotary secondary arm through the reversing rotating mechanism.
2. The four-axis mechanical arm as claimed in claim 1, wherein the rotary fixing seat is provided with a first cavity, one end of the rotary fixing seat is connected to the longitudinal driving mechanism, the first servo integrated motor is arranged in the first cavity and located at the other end of the rotary fixing seat, and the first servo integrated motor is connected to the rotary fixing seat and the rotary primary arm;
the rotary primary arm is in a plate type, one end of the rotary primary arm is connected with the first servo integrated motor, and the other end of the rotary primary arm is connected with the rotary secondary arm through the second servo integrated motor;
the rotary secondary arm is provided with a second cavity position, the second servo integrated motor is arranged in the second cavity position and located at one end, close to the rotary primary arm, of the rotary secondary arm, and the second servo integrated motor is connected with the rotary secondary arm and the rotary primary arm.
3. The four-axis mechanical arm of claim 2, wherein the reversing rotation mechanism comprises:
the first motor is arranged in the second cavity;
the right-angle speed reducer is arranged in the second cavity, and the first motor is connected with the right-angle speed reducer;
the bearing block is arranged below the rotary secondary arm and connected with the rotary secondary arm;
the connecting shaft is arranged in the bearing seat, one end of the connecting shaft is in linkage connection with the right-angle speed reducer, and the other end of the connecting shaft is connected with the adsorption mechanism.
4. The four-axis manipulator according to claim 1, wherein the suction mechanism comprises:
the connecting seat is arranged at the bottom of the rotary secondary arm and is connected with the rotary secondary arm through the reversing rotating mechanism;
at least one adsorption component, the adsorption component is arranged at the bottom of the connecting seat and is connected with the connecting seat.
5. The four-axis robot arm of claim 4, wherein the adsorption assembly comprises:
the hardware fitting is provided with a through hole and connected with the connecting seat, and one end of the hardware fitting is used for being connected with an external air compression pump;
the suction nozzle is arranged at the other end of the hardware fitting and is connected with the hardware fitting;
the sponge sucking disc, the sponge sucking disc cover is located the outside of suction nozzle and with the suction nozzle is connected.
6. The four-axis mechanical arm of claim 5, wherein the gold utensil comprises:
the connecting column is internally provided with the through hole, the connecting seat is provided with a connecting hole, and the connecting column penetrates through the connecting hole;
the limiting connecting part is arranged at one end of the connecting column and is fixedly connected with the connecting column, and the suction nozzle is connected to the connecting column through the limiting connecting part;
the elastic component is sleeved on the connecting column, and one end of the elastic component is abutted against the limiting connecting part;
the bolt sleeve is sleeved on the connecting column and is in sliding connection with the connecting column, the other end of the elastic component is abutted to the bolt sleeve, and the bolt sleeve is arranged in the connecting hole in a penetrating mode and is fixed on the connecting seat through a nut.
7. The four-axis robotic arm of claim 1, wherein the longitudinal drive mechanism comprises:
a longitudinal fixed seat;
the second motor is arranged on the longitudinal fixed seat and is connected with the longitudinal fixed seat;
the second motor is connected with the screw rod;
the sliding block, the sliding block with vertical fixing base sliding connection, just one side of sliding block with the lead screw is connected, the opposite side of sliding block with rotatory fixing base is connected.
8. The quadcopter arm as claimed in claim 7, wherein the longitudinal drive mechanism further comprises a drag chain for receiving a cable;
the vertical fixing seat is provided with a connecting block, and the drag chain is connected with the connecting block.
9. The four-axis mechanical arm of claim 1, wherein the four-axis mechanical arm further comprises an image acquisition device, and the image acquisition device is arranged above the adsorption mechanism.
10. An unmanned vending store comprising the four-axis robotic arm of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220375634.5U CN217552406U (en) | 2022-02-23 | 2022-02-23 | Four-axis arm and unmanned shop of selling goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220375634.5U CN217552406U (en) | 2022-02-23 | 2022-02-23 | Four-axis arm and unmanned shop of selling goods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217552406U true CN217552406U (en) | 2022-10-11 |
Family
ID=83468356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220375634.5U Active CN217552406U (en) | 2022-02-23 | 2022-02-23 | Four-axis arm and unmanned shop of selling goods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217552406U (en) |
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2022
- 2022-02-23 CN CN202220375634.5U patent/CN217552406U/en active Active
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