CN108032297A - Cam manipulator - Google Patents
Cam manipulator Download PDFInfo
- Publication number
- CN108032297A CN108032297A CN201711377458.9A CN201711377458A CN108032297A CN 108032297 A CN108032297 A CN 108032297A CN 201711377458 A CN201711377458 A CN 201711377458A CN 108032297 A CN108032297 A CN 108032297A
- Authority
- CN
- China
- Prior art keywords
- cam
- rack
- shift fork
- manipulator
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to industrial automation equipment, more specifically to a kind of automatic mechanical hand.Cam manipulator, including servomotor, rack, cam mechanism, shift fork, moving parts, the servomotor is fixed on the rack, be connected shaft coupling on the output shaft of the servomotor, the end of the shaft coupling is connected shift fork, the moving parts are movably connected on the rack, and the shift fork is movably connected on the moving parts.The present invention is suitable for during machine-building, realizes the carrying transmission of material；Cam manipulator of the present invention realizes light-weight design, by the use of a servomotor as driving source, manipulator is produced the two dimensional motion space of anticipation；By varying cam groove center line, it can quickly change the movement locus of manipulator.
Description
Technical field
The present invention is divisional application, parent application number：2016100582088.The present invention relates to industrial automation equipment, more
Specifically, it is related to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding functions that can imitate human hand and arm, to capture, carry by fixed routine object or
The automatic pilot of operation instrument.It can replace the heavy labor of people to have to realize the mechanization of production and automation
Operation is to protect personal safety under evil environment, thus is widely used in the portions such as machine-building, metallurgy, electronics, light industry and atomic energy
Door.
Manipulator is mainly made of hand, motion and control system three parts.Hand be for grasp workpiece (or
Instrument) component, have multiple structural forms according to by the shape of grasping object, size, weight, material and job requirements, such as
Clamp-type, holding type and absorbent-type etc..Motion, makes hand complete various (swing), movement or the compound motions of rotating and comes in fact
Action, changes by the position of grasping object and posture as defined in existing.Motion such as lifts, stretches, rotating at the self-movement side
Formula, is known as the free degree of manipulator.Control system be by the control of the motor to each free degree of manipulator, it is specific to complete
Action.
However, existing mechanical finger is often driven by multiple motors, and it is complicated, it is expensive.
The service life of existing mechanical finger is not grown.
The content of the invention
Object of the present invention is to provide a kind of cam manipulator, the present invention is suitable for during machine-building, realizes
The carrying transmission of material；Cam manipulator of the present invention realizes light-weight design, by the use of a servomotor as driving source, makes
Manipulator produces the two dimensional motion space of anticipation；By varying cam groove center line, it can quickly change the movement rail of manipulator
Mark.
A kind of cam manipulator, including servomotor, rack, cam mechanism, shift fork, moving parts, the servomotor
It is fixed on the rack, be connected shaft coupling on the output shaft of the servomotor, and the end of the shaft coupling is connected shift fork, described
Moving parts are movably connected on the rack, and the shift fork is movably connected on the moving parts；
The moving parts include：Mechanical arm, turntable, roller, sliding block, adjustable plate, set on the turntable packet,
Shaft, the shaft are movably connected on the rack by the bearing, and the sliding block is fixed on the packet, the machine
Tool arm is movably connected on the sliding block；One end of the mechanical arm is arm end, and the roller is fixed on the machine
On tool arm；
The cam mechanism includes：Overhead cam, lower cam, the overhead cam and lower cam are fixed in the rack,
Cam path is set on the overhead cam, lower cam, and the outside diameter of the groove width of the cam path and the roller matches；The cam
The cam groove center line of groove is one section of smooth continuous curve.
Preferably, one end of the mechanical arm is connected the adjustable plate, trimming bolt under being set on the adjustable plate,
Upper trimming bolt；Be connected lower limiting board, upper limit plate, the lower limiting board and the lower trimming bolt phase in the rack
Match somebody with somebody, the upper limit plate and the upper trimming bolt match.
Preferably, be connected cover board on the sliding block, and the mechanical arm is between the sliding block and the cover board.
Preferably, the shaft coupling includes：Mating surface, linkage section, the linkage section are fixed on the defeated of the servomotor
On shaft, the mating surface and the shift fork match, and the shift fork is fixed in the mating surface by hinged bolts.
Preferably, the cam groove center line includes：The initiating terminal, changeover portion, clearing end, the initiating terminal and described
Clearing end is straight line, and the changeover portion is curve.
Preferably, one section of the shift fork is fixed on the shaft coupling, and the other end sets two supporting legs, between the supporting leg
It is flexibly connected the roller, the diameter of the distance of the supporting leg and the roller matches.
The present invention's provides a kind of cam manipulator, is compared with conventional art the device have the advantages that as follows：
Cam manipulator, the servomotor are fixed on the rack, and be connected shaft coupling on the output shaft of the servomotor
Device, the end of the shaft coupling are connected shift fork, and the moving parts are movably connected on the rack, and the shift fork is movably connected on
The moving parts, the diameter phase of the roller, the distance of the supporting leg and the roller is flexibly connected between the supporting leg
Match somebody with somebody.The output shaft of the servomotor drives the shaft coupling, shift fork to synchronously rotate, and the shift fork drives the roller in institute
State in cam path, moved along the track of the cam groove center line.
The shaft is movably connected on the rack by the bearing, and the turntable can be rotated around the bearing.Institute
State mechanical arm to be movably connected on the sliding block, the mechanical arm can relatively described sliding block slip.The roller is connected
In one end of the mechanical arm, when the roller is along the cam path center line movement, the mechanical arm drives described turn
Axis rotates.
The overhead cam and lower cam are fixed in the rack by bolt, and the overhead cam and lower cam are combined into institute
Cam mechanism is stated, cam path is set on the cam mechanism, the outside diameter of the groove width of the cam path and the roller matches；Institute
The cam groove center line for stating cam path is one section of smooth continuous curve.The cam groove center line includes：The initiating terminal, mistake
Cross section, clearing end, the initiating terminal and the clearing end are straight line, and the changeover portion is curve, the initiating terminal, changeover portion,
Clearing end is formed and is smoothly connected.
When the moving parts are in initial position, the roller is located at the position of cam starting point, the arm end position
In the position of manipulator starting point, the roller moves to cam terminal along the cam path centerline points by the cam starting point,
The arm end reaches the position of manipulator terminal, and the arm end produces movement locus.The initiating terminal and the end
Not-go-end is straight line, the arm end is moved along a straight line.
Paw mechanism is fixed on the arm end, for performing the action of crawl object and carry an object.
One end of the mechanical arm is connected the adjustable plate, trimming bolt under being set on the adjustable plate, on finely tune
Bolt；Be connected lower limiting board, upper limit plate in the rack, and the lower limiting board and the lower trimming bolt match, institute
State upper limit plate and the upper trimming bolt matches.The lower trimming bolt, upper trimming bolt are adjusted, the hand can be adjusted
The position of arm end.
The shaft coupling includes：Mating surface, linkage section, the linkage section are fixed on the output shaft of the servomotor,
The mating surface and the shift fork match, and the shaft coupling is designed with compact structure, realizes multi-functional.The shift fork
It is fixed in the mating surface by hinged bolts, is connected by hinged bolts, ensure that the shift fork and the cooperation
Being reliably connected between face, will not occur opposite slide.
Cam manipulator of the present invention is by single driving force --- and the servomotor realizes preferable end as input
Track is held, sets paw mechanism to reach crawl in the function of carry an object on the arm end.Traditional arm is
Reach the movement locus of two dimension, at least need two servomotors as power input, and two servomotors are in order to reach
The purpose of two-axle interlocking adds the burden of control system, it is necessary to supporting multi-shaft motion control system.Secondly, the present invention is convex
Wheel mechanical hand realizes light-weight design so that can be in compact mechanical hand structure, or obtained in aerospace field
Wide application.Traditional manipulator, two servomotors need to take the space of bigger, increase the weight of bigger, cause machine
The bulky and weight increase of tool hand.
Cam manipulator of the present invention controls the end orbit by the cam groove center line, described convex by adjusting
The relative position of wheel and lower cam, thus it is possible to vary the end orbit.Meanwhile by finely tuning the lower trimming bolt, upper fine setting
Bolt, thus it is possible to vary the end orbit.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of cam manipulator of the present invention；
Fig. 2 is structure diagram of the cam manipulator of the present invention under another visual angle；
Fig. 3 is structure diagram of the cam manipulator of the present invention under another visual angle；
Fig. 4,5 be cam manipulator of the present invention cam mechanism structure diagram；
Fig. 6,7 be cam manipulator of the present invention moving parts structure diagram；
Fig. 8 is the structure diagram of the movement locus of cam manipulator of the present invention；
Fig. 9 is the structure diagram of the cam groove center line of cam manipulator of the present invention；
Figure 10 is the structure diagram of the shaft coupling of cam manipulator of the present invention.
1 mechanical arm, 2 arm ends, 3 servomotors, 4 racks, 5 cam mechanisms, 6 shaft couplings, 7 shift forks, 8 sliding blocks, 9 are adjusted
Save plate, 10 lower limiting boards, 11 upper limit plates, 12 times trimming bolts, trimming bolt, 14 turntables, 15 rollers, 16 supporting legs, 17 on 13
Mating surface, 18 linkage sections, 19 bearings, 20 cover boards, 21 moving parts, 22 packets, 23 shafts, 24 overhead cams, 25 lower cams, 26
Cam path, 27 end orbits, 28 cam starting points, 29 cam terminals, 30 manipulator starting points, 31 manipulator terminals.
Embodiment
The present invention is described in further detail below in conjunction with attached drawing, but does not form any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides a kind of cam manipulator, for reality
The crawl and transfer of existing material.
Fig. 1 is the dimensional structure diagram of cam manipulator of the present invention, and Fig. 2 is that cam manipulator of the present invention is regarded at another
Structure diagram under angle, Fig. 3 are structure diagram of the cam manipulator of the present invention under another visual angle, and Fig. 4,5 are this hairs
The structure diagram of the cam mechanism of bright cam manipulator, Fig. 6,7 are that the structure of moving parts of cam manipulator of the present invention is shown
It is intended to, Fig. 8 is the structure diagram of the movement locus of cam manipulator of the present invention, and Fig. 9 is the cam of cam manipulator of the present invention
The structure diagram of groove center line, Figure 10 are the structure diagrams of the shaft coupling of cam manipulator of the present invention.
A kind of cam manipulator, including servomotor 3, rack 4, cam mechanism 5, shift fork 7, moving parts 21, it is described to watch
Take motor 3 and be fixed on the rack 4, be connected shaft coupling 6 on the output shaft of the servomotor 3, and the end of the shaft coupling is consolidated
Even shift fork 7, the moving parts 21 are movably connected on the rack 4, and the shift fork 7 is movably connected on the moving parts 21；
The moving parts include：Mechanical arm 1, turntable 14, roller 15, sliding block 8, adjustable plate 9, set on the turntable 14
Packet 22, shaft 23 are put, the shaft 23 is movably connected on the rack 4 by the bearing 19, and the sliding block 8 is fixed on
On the packet 22, the mechanical arm 1 is movably connected on the sliding block 8；One end of the mechanical arm 1 is arm end
End 2, the roller 15 is fixed on the mechanical arm 1；
The cam mechanism 5 includes：Overhead cam 24, lower cam 25, the overhead cam 24 and lower cam 25 are fixed on described
In rack 4, cam path 26, the groove width and the roller 15 of the cam path 26 are set in the overhead cam 24, lower cam 25
Outside diameter match；The cam groove center line 32 of the cam path 26 is one section of smooth continuous curve.
The adjustable plate 9 more specifically, one end of the mechanical arm 1 is connected, is finely tuned under being set on the adjustable plate 9
Bolt 12, upper trimming bolt 13；Be connected lower limiting board 10, upper limit plate 11, the lower limiting board 10 and institute in the rack 4
State lower trimming bolt 12 to match, the upper limit plate 11 and the upper trimming bolt 13 match.
More specifically, the cover board 20 that is connected on the sliding block 8, the mechanical arm 1 are located at the sliding block 8 and the cover board 20
Between.
More specifically, the shaft coupling 6 includes：Mating surface 17, linkage section 18, the linkage section 18 are fixed on the servo
On the output shaft of motor 3, the mating surface 17 and the shift fork 7 match, and the shift fork 7 is fixed on institute by hinged bolts
State in mating surface 17.
More specifically, the cam groove center line 32 includes：The initiating terminal 33, changeover portion 34, clearing end 35, described
Beginning 33 and the clearing end 35 are straight line, and the changeover portion 34 is curve.
More specifically, one section of the shift fork 7 is fixed on the shaft coupling 6, the other end sets two supporting legs 16, the branch
The roller 15 is flexibly connected between leg 16, the distance of the supporting leg 16 and the diameter of the roller 15 match.
Below in conjunction with Fig. 1 to 10, the operation principle and the course of work of cam manipulator of the present invention are further described：
Cam manipulator, the servomotor 3 are fixed on the rack 4, and be connected connection on the output shaft of the servomotor 3
Axis device 6, the end of the shaft coupling are connected shift fork 7, and the moving parts 21 are movably connected on the rack 4, and the shift fork 7 is lived
It is dynamic to be connected to the moving parts 21, the roller 15, the distance of the supporting leg 16 and institute are flexibly connected between the supporting leg 16
The diameter for stating roller 15 matches.The output shaft of the servomotor 3 drives the shaft coupling 6, shift fork 7 to synchronously rotate, institute
Stating shift fork 7 drives the roller 15 to be moved in the cam path 26 along the track of the cam groove center line 32.
The shaft 23 is movably connected on the rack 4 by the bearing 19, and the turntable 14 can be around the bearing
19 rotate.The mechanical arm 1 is movably connected on the sliding block 8, the mechanical arm 1 can relatively described sliding block 8 slide.
The roller 15 is fixed on one end of the mechanical arm 1, the roller 15 along the cam groove center line 32 move when, it is described
Mechanical arm 1 drives the shaft 23 to rotate.
The overhead cam 24 and lower cam 25 are fixed in the rack 4 by bolt, the overhead cam 24 and lower cam
25 are combined into the cam mechanism 5, and cam path 26, the groove width of the cam path 26 and the rolling are set on the cam mechanism 5
The outside diameter of son 15 matches；The cam groove center line 32 of the cam path 26 is one section of smooth continuous curve.The cam path
Center line 32 includes：The initiating terminal 33, changeover portion 34, clearing end 35, the initiating terminal 33 and the clearing end 35 are straight line,
The changeover portion 34 is curve, and the initiating terminal 33, changeover portion 34, clearing end 35 are formed and be smoothly connected.
When the moving parts 21 are in initial position, the roller 15 is located at the position of cam starting point 28, the arm
End 2 is located at the position of manipulator starting point 30, and the roller 15 is along 32 points of the cam groove center line by the cam starting point 28
Cam terminal 29 is moved to, the arm end 2 reaches the position of manipulator terminal 31, and the arm end 2 produces movement rail
Mark 27.The initiating terminal 33 and the clearing end 35 are straight line, the arm end 2 is moved along a straight line.
Paw mechanism is fixed on the arm end 2, for performing the action of crawl object and carry an object.
One end of the mechanical arm 1 is connected the adjustable plate 9, trimming bolt 12 under being set on the adjustable plate 9, on
Trimming bolt 13；Be connected lower limiting board 10, upper limit plate 11, the lower limiting board 10 and the lower fine setting in the rack 4
Bolt 12 matches, and the upper limit plate 11 and the upper trimming bolt 13 match.Adjust the lower trimming bolt 12, upper micro-
Bolt 13 is adjusted, the position of the arm end 2 can be adjusted.
The shaft coupling 6 includes：Mating surface 17, linkage section 18, the linkage section 18 are fixed on the defeated of the servomotor 3
On shaft, the mating surface 17 and the shift fork 7 match, and the shaft coupling 6 is designed with compact structure, realizes multiple work(
Energy.The shift fork 7 is fixed in the mating surface 17 by hinged bolts, is connected by hinged bolts, ensure that described
Being reliably connected between shift fork 7 and the mating surface 17, will not occur opposite slide.
Cam manipulator of the present invention is by single driving force --- and the servomotor 3 realizes preferably as input
End orbit 27, sets paw mechanism to reach crawl in the function of carry an object on the arm end 2.Traditional hand
Arm in order to reach two dimension movement locus, at least need two servomotors as power input, and two servomotors in order to
Achieve the purpose that two-axle interlocking, it is necessary to supporting multi-shaft motion control system, add the burden of control system.Secondly, this hair
Bright cam manipulator realizes light-weight design so that can be in compact mechanical hand structure, or in aerospace field
Obtain wide application.Traditional manipulator, two servomotors need to take the space of bigger, increase the weight of bigger, lead
Cause the bulky and weight increase of manipulator.
Cam manipulator of the present invention controls the end orbit 27 by the cam groove center line 32, by described in adjusting
The relative position of overhead cam 24 and lower cam 25, thus it is possible to vary the end orbit 27.Meanwhile by finely tuning the lower fine setting spiral shell
Bolt 12, upper trimming bolt 13, thus it is possible to vary the end orbit 27.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, can also there is many deformations.Any letter that every technical spirit according to the present invention makees above example
Single modification, equivalent variations and modification, are considered as belonging to protection scope of the present invention.
Claims (3)
1. a kind of cam manipulator, it is characterised in that composition is as follows：Including servomotor, rack, cam mechanism, shift fork, movement
Component, the servomotor are fixed on the rack, and be connected shaft coupling on the output shaft of the servomotor, the shaft coupling
End is connected shift fork, and the moving parts are movably connected on the rack, and the shift fork is movably connected on the moving parts；
The moving parts include：Mechanical arm, turntable, roller, sliding block, adjustable plate, packet is set on the turntable, is turned
Axis, the shaft are movably connected on the rack by the bearing, and the sliding block is fixed on the packet, the machinery
Arm is movably connected on the sliding block；One end of the mechanical arm is arm end, and the roller is fixed on the machinery
On arm；
The cam mechanism includes：Overhead cam, lower cam, the overhead cam and lower cam are fixed in the rack, described
Cam path is set on overhead cam, lower cam, and the outside diameter of the groove width of the cam path and the roller matches；The cam path
Cam groove center line is one section of smooth continuous curve；
One end of the mechanical arm is connected the adjustable plate, trimming bolt under being set on the adjustable plate, on trimming bolt；
Be connected lower limiting board, upper limit plate in the rack, and the lower limiting board and the lower trimming bolt match, the upper limit
Position plate and the upper trimming bolt match；
Be connected cover board on the sliding block, and the mechanical arm is between the sliding block and the cover board；One section of the shift fork
Be fixed on the shaft coupling, the other end sets two supporting legs, is flexibly connected the roller between the supporting leg, the supporting leg away from
Match from the diameter with the roller.
2. cam manipulator according to claim 1, it is characterised in that the shaft coupling includes：Mating surface, linkage section,
The linkage section is fixed on the output shaft of the servomotor, and the mating surface and the shift fork match, and the shift fork leads to
Hinged bolts are crossed to be fixed in the mating surface.
3. cam manipulator according to claim 1, it is characterised in that the cam groove center line includes：Initiating terminal, mistake
Section, clearing end are crossed, the initiating terminal and the clearing end are straight line, and the changeover portion is curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377458.9A CN108032297A (en) | 2016-01-28 | 2016-01-28 | Cam manipulator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610058208.8A CN105538304B (en) | 2016-01-28 | 2016-01-28 | Track fusion formula manipulator |
| CN201711377458.9A CN108032297A (en) | 2016-01-28 | 2016-01-28 | Cam manipulator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610058208.8A Division CN105538304B (en) | 2016-01-28 | 2016-01-28 | Track fusion formula manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032297A true CN108032297A (en) | 2018-05-15 |
Family
ID=55818096
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711370942.9A Pending CN108032296A (en) | 2016-01-28 | 2016-01-28 | High speed movement robot Dextrous Hand |
| CN201711371197.XA Withdrawn CN108115667A (en) | 2016-01-28 | 2016-01-28 | Nimble arm |
| CN201711377458.9A Withdrawn CN108032297A (en) | 2016-01-28 | 2016-01-28 | Cam manipulator |
| CN201610058208.8A Active CN105538304B (en) | 2016-01-28 | 2016-01-28 | Track fusion formula manipulator |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711370942.9A Pending CN108032296A (en) | 2016-01-28 | 2016-01-28 | High speed movement robot Dextrous Hand |
| CN201711371197.XA Withdrawn CN108115667A (en) | 2016-01-28 | 2016-01-28 | Nimble arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610058208.8A Active CN105538304B (en) | 2016-01-28 | 2016-01-28 | Track fusion formula manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108032296A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112125252A (en) * | 2020-09-03 | 2020-12-25 | 广州连创自动化设备有限公司 | Servo cam 90-degree cover taking mechanism |
| CN112769302A (en) * | 2020-06-28 | 2021-05-07 | 温州职业技术学院 | Motor rapid Assembly system based on cam manipulator |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN110509038B (en) * | 2019-08-01 | 2021-03-30 | 广东万盛兴智能技术研究院有限公司 | Track seeking mechanism |
| CN110668167A (en) * | 2019-10-31 | 2020-01-10 | 苏州富强科技有限公司 | Clamping jaw rotating device |
| CN111975741A (en) * | 2020-08-18 | 2020-11-24 | 上海托展智能科技股份有限公司 | Carrying manipulator |
| CN113208219A (en) * | 2021-05-10 | 2021-08-06 | 周全超 | Automatic button feeding device |
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| CN102556655A (en) * | 2012-01-17 | 2012-07-11 | 邹建炀 | Novel right-angled carrying manipulator |
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| DE20004746U1 (en) * | 2000-03-15 | 2000-08-10 | Festo AG & Co, 73734 Esslingen | Handling device for repositioning parts |
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- 2016-01-28 CN CN201711370942.9A patent/CN108032296A/en active Pending
- 2016-01-28 CN CN201711371197.XA patent/CN108115667A/en not_active Withdrawn
- 2016-01-28 CN CN201711377458.9A patent/CN108032297A/en not_active Withdrawn
- 2016-01-28 CN CN201610058208.8A patent/CN105538304B/en active Active
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| US20040197182A1 (en) * | 2003-04-01 | 2004-10-07 | Festo Ag & Co. | Handling device for repositioning parts |
| CN2637135Y (en) * | 2003-07-02 | 2004-09-01 | 陕西科技大学 | Can type lifting and position rotating mechanical hand |
| CN2788987Y (en) * | 2005-04-14 | 2006-06-21 | 陕西科技大学 | Arc cam robot waist-exercising driving device |
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN102556655A (en) * | 2012-01-17 | 2012-07-11 | 邹建炀 | Novel right-angled carrying manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112769302A (en) * | 2020-06-28 | 2021-05-07 | 温州职业技术学院 | Motor rapid Assembly system based on cam manipulator |
| CN112125252A (en) * | 2020-09-03 | 2020-12-25 | 广州连创自动化设备有限公司 | Servo cam 90-degree cover taking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105538304B (en) | 2018-03-23 |
| CN105538304A (en) | 2016-05-04 |
| CN108115667A (en) | 2018-06-05 |
| CN108032296A (en) | 2018-05-15 |
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Application publication date: 20180515 |
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| WW01 | Invention patent application withdrawn after publication |