CN108942913A - A kind of pneumatic actuation industrial robot structure - Google Patents
A kind of pneumatic actuation industrial robot structure Download PDFInfo
- Publication number
- CN108942913A CN108942913A CN201811048080.2A CN201811048080A CN108942913A CN 108942913 A CN108942913 A CN 108942913A CN 201811048080 A CN201811048080 A CN 201811048080A CN 108942913 A CN108942913 A CN 108942913A
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- Prior art keywords
- cylinder
- straight line
- line cylinder
- piston rod
- gripper
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of pneumatic actuation industrial robot structures, including pedestal (1), rotary cylinder I(2), straight line cylinder I(3), connecting cylinder (4), straight line cylinder II(5), clump weight (6), rotary cylinder II(7), gripper (8)；The rotary cylinder I(2) top be fixed together with straight line cylinder I(2) by attachment base (203), the straight line cylinder I(3) moving direction and straight line cylinder II(5) moving direction at an angle of 90 degrees, the straight line cylinder II(5) it is fixed together by connecting cylinder (4) with straight line cylinder I(3), rotary cylinder II(7) it is connected in straight line cylinder II(5) on, the gripper (8) is connected in rotary cylinder II(7) on, the gripper (8) folding is driven by straight line cylinder III；The advantage is that: structure of the invention is succinct, fast response time, using effect is good, easy to promote and utilize.
Description
Technical field
The present invention relates to intelligent machine manufacturing technology field, in particular to a kind of robot device, espespecially a kind of pneumatic driving
Dynamic industrial robot structure.
Background technique
Industrial robot is the multidisciplinary advanced skills such as a kind of collection machinery, electronics, control, computer, sensor, artificial intelligence
The art automated arm important in the modern manufacturing industry of one.Industrial robot product can be widely applied to every field, for example,
Automobile, rail traffic, electric and electronic, chemical engineering, mechanical engineering, logistics transportation, medicine, printing and publishing etc..In particular, working
Intensity is big, bad environments, work repeatability are high, artificial technology and job security are not easy the work guaranteed, can use work
Industry robot replaces.After made in China 2025 is issued, manufacturing industry generally needs technology and equipment upgrading, to enhance competition
Power is increased economic efficiency, and industrial robot will necessarily promote more and more as important equipment and means in advanced manufacturing industry
Enterprise start the agitation using robot.
The research of pneumatic robot also functions to very big improvement result to the life of the mankind.Pneumatic robot structure is simply clever
It is living, it is easily operated, it is safe and reliable the advantages that very big help is played to related personnel's study, it is more complicated to be developed later
Change, is humanized, intelligentized bio-robot lays the foundation.
Summary of the invention
The present invention provides a kind of pneumatic actuation industrial robot structure.
Above-mentioned purpose of the invention is achieved through the following technical solutions:
Pneumatic actuation industrial robot structure include pedestal, rotary cylinder I, straight line cylinder I, straight line cylinder II, rotary cylinder II,
Clump weight, gripper；The bottom of the rotary cylinder I is connected on pedestal, and the top of the rotary cylinder I passes through attachment base
It is fixed together with straight line cylinder I, the moving direction of the straight line cylinder I and the moving direction of straight line cylinder II are at 90 degree
Angle, the straight line cylinder II are fixed together by connecting cylinder and straight line cylinder I, and the rotary cylinder II is connected in straight line
On the connecting flange of cylinder I I piston rod, the gripper is connected and is connected on rotary cylinder II by connecting flange, described
Gripper folding is driven by straight line cylinder III；The clump weight is fixed together with straight line cylinder II, prevents gripper in crawl weight
Industrial robot is set to tumble when object；The rotary cylinder I realizes the revolution of industrial robot；The straight line cylinder I
Realize the rise and fall of industrial robot waist；The straight line cylinder II realizes the flexible of industrial machine human arm；Institute
The rotary cylinder II stated realizes the rotation of industrial robot wrist, and then changes the crawl direction of gripper.
The rotary cylinder I is fixed on the base by screw I, for the rotating shaft I for protecting rotary cylinder I, is being turned round
The top of cylinder I is equipped with attachment base, and the attachment base is fixed on rotary cylinder I by screw II, is equipped on attachment base
Tapered roller bearing and deep groove ball bearing, the piston rod of the straight line cylinder I inner ring with cylinder roller bearing, deep groove ball bearing respectively
Cooperation, the rotating shaft I of the rotary cylinder I is fixed together by the piston rod of jackscrew and straight line cylinder I, in cylindrical roller
Under the action of bearing, deep groove ball bearing, rotary cylinder I makes rotating shaft I drive straight line cylinder I and be mounted under the influence of air pressure
Component on straight line cylinder I turns round together.
The straight line cylinder I is fixed together with connecting cylinder by screw III, and stomata, straight line gas are equipped on connecting cylinder
Also stomata is provided on cylinder I, when stomata outlet in the stomata air inlet, straight line cylinder I on the connecting cylinder, in the effect of air pressure
Under, piston rod is motionless, and cylinder body is raised above, and coupled mechanism is driven to rise together, and the stomata on the connecting cylinder goes out
When stomata air inlet on gas, straight line cylinder I, piston rod is motionless, cylinder body falls downward, and then drives coupled mechanism together
Decline.
The straight line cylinder II under the influence of air pressure, realizes the stretching and retraction of piston rod, and straight line cylinder II5 passes through
Screw IV is fixed on connecting cylinder；Linear bearing is equipped on the straight line cylinder II piston rod connecting flange, connecting flange is logical
Locking nut I is crossed to be fixed tightly in piston rod II 503, guide rod pass through linear bearing and be fixed on the two sides of straight line cylinder II cylinder body with
And on the connecting flange of piston rod, when the piston rod of straight line cylinder II is flexible, guide rod is motionless, and linear bearing is slided along guide rod,
And then it drives and stretches together with the mechanism that connecting flange is connected.
Connecting flange II is fixed on the rotating shaft II of rotary cylinder II by the locking nut II, the rotary pneumatic
Cylinder II is connected by screw V and straight line cylinder II with gripper, and gripper is connected on connecting flange II by screw VI, rotation
When cylinder I I is turned round, rotating shaft II drives coupled gripper to turn round；The gripper includes straight line cylinder III and pawl
Arm, connecting rod, pawl arm are fixed on the casing wall of straight line cylinder III, and connecting rod is connected to the piston rod of pawl arm Yu straight line cylinder III
On, it is equipped with spring on the piston rod of straight line cylinder III, plays damping, reset response, the straight line cylinder III piston rod
The flexible folding for realizing pawl arm.
The beneficial effects of the present invention are: compared with prior art, structure of the invention is succinct, and each section connection is reliable；Gas
Dynamic to have the advantages that response is fast, using effect is good, easy to promote and utilize.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative example and its explanation is used to explain the present invention, and is not constituted improper limitations of the present invention.
Fig. 1 is that air pressure of the present invention drives industrial robot structure full sectional view；
Fig. 2 is that air pressure of the present invention drives industrial robot structure close-up views.
In figure: 1, pedestal, 2, rotary cylinder I, 3, straight line cylinder I, 4, connecting cylinder, 5, straight line cylinder II, 6, clump weight, 7,
Rotary cylinder II, 8 grippers；201, rotating shaft I, 202, tapered roller bearing, 203, attachment base, 204, deep groove ball bearing, 301,
Piston rod I, 302, stomata I, 303, cylinder body, 401, stomata II, 501, locking nut I, 502, guide rod, 503, piston rod II,
504, linear bearing, 505, connecting flange I, 701, rotating shaft II, 702 connecting flange II, 703, locking nut II, 801, piston
Bar III, 802, spring, 803, connecting rod, 804, pawl arm.
Specific embodiment
Detailed content and its specific embodiment of the invention are further illustrated with reference to the accompanying drawing.
Pneumatic actuation industrial robot structure includes pedestal 1, rotary cylinder I2, straight line cylinder I3, connecting cylinder 4, straight line gas
Cylinder II5, clump weight 6, rotary cylinder II7, gripper 8；The rotary cylinder I2 includes rotating shaft I201, tapered roller bearing
202, attachment base 203, deep groove ball bearing 204；The straight line cylinder I3 includes piston rod I 301, stomata I302, cylinder body 303；
Stomata II 401 is provided on the connecting cylinder 4；The straight line cylinder II5 includes locking nut I501, guide rod 502, piston
Bar II503, linear bearing 504, connecting flange I505；The rotary cylinder II7 includes rotating shaft II701, connecting flange II
702, locking nut II703；The gripper 8 includes piston rod II I 801, spring 802, connecting rod 803, pawl arm 804；Described
The lower part of rotary cylinder I2 is connected on pedestal 1, and the top of the rotary cylinder I2 is solid by attachment base and straight line cylinder I2
It connects together, the moving direction of the straight line cylinder I3 and the moving direction of straight line cylinder II5 are at an angle of 90 degrees, the straight line
Cylinder I I5 is fixed together by connecting cylinder 4 and straight line cylinder I3, and the rotary cylinder II7 passes through the company of piston rod II 503
Acting flange I505 is connected on straight line cylinder II5, and the gripper 8 is connected in rotary cylinder II7 by connecting flange II702
On, the folding of gripper 8 is driven by straight line cylinder III；The clump weight 6 is fixed together with straight line cylinder II5, prevents
Gripper makes industrial robot tumble when grabbing weight；The rotary cylinder I2 realizes the revolution of industrial robot；Institute
The straight line cylinder I3 stated realizes the rise and fall of industrial robot waist；The straight line cylinder II5 realizes industrial machine
Human arm is stretched；The rotary cylinder II7 realizes the rotation of industrial robot wrist, and then changes the crawl of gripper 8
Direction.
The rotary cylinder I2 is fixed on pedestal 1 by screw I, for protect rotary cylinder I2 rotating shaft I201,
It is equipped with attachment base 203 on the top of rotary cylinder I2, the attachment base 203 is fixed on rotary cylinder I2 by screw II
Portion, equipped with tapered roller bearing 202 and deep groove ball bearing 204 on attachment base, the piston rod I 301 of straight line cylinder I3 respectively with
The inner ring cooperation of cylinder roller bearing 202, deep groove ball bearing 204, the rotating shaft I201 of the rotary cylinder I2 pass through jackscrew
It is fixed together with the piston rod I 301 of straight line cylinder I3, under the action of cylinder roller bearing 202, deep groove ball bearing 204, rotation
The component one that rotaring cylinder I2 makes rotating shaft I201 drive straight line cylinder I3 and be mounted on straight line cylinder I3 under the influence of air pressure
Play revolution.
The straight line cylinder I3 is fixed together with connecting cylinder 4 by screw III, and stomata 401 is equipped on connecting cylinder 4,
Also stomata II302 is provided on straight line cylinder I, the stomata in stomata I401 air inlet, straight line cylinder I3 on the connecting cylinder 4
When II302 outlet, under the influence of air pressure, piston rod I 301 is motionless, and cylinder body 304 is raised above, and drives coupled mechanism
Rise together, when stomata II302 air inlet on 401 outlet of stomata, straight line cylinder I3 on the connecting cylinder 4, piston rod
I301 is motionless, 303 falls downward of cylinder body, and then drives and decline together with the mechanism that cylinder body 303 is connected.
The straight line cylinder II5 under the influence of air pressure, realizes the stretching and retraction of piston rod II 503, straight line cylinder
II5 is fixed on connecting cylinder 4 by screw IV；Equipped with straight on the 503 connecting flange I505 of straight line cylinder II5 piston rod II
Spool holds 504, and connecting flange I505 is fixed tightly in piston rod II 503 by locking nut I501, and guide rod 502 passes through linear bearing
It 504 and is fixed on the two sides of straight line cylinder II503 and the connecting flange 505 of piston rod, the piston rod of straight line cylinder II5
When II503 stretches, guide rod 502 is motionless, and linear bearing 504 is slided along guide rod 502, and then drives and be connected with connecting flange I505
Mechanism stretch together.
Connecting flange II703 is fixed on the rotating shaft II701 of rotary cylinder II7 by the locking nut II701, institute
The rotary cylinder II7 stated is connected by screw V with straight line cylinder II5 and gripper 8, and gripper 8 is connected in company by screw VI
On acting flange II702, when rotary cylinder II7 is turned round, rotating shaft II701 drives coupled gripper 8 to turn round, and then changes
The crawl direction of gripper 8；The gripper 8 includes straight line cylinder III801 and pawl arm 804, connecting rod 803, and pawl arm 804 is fixed
On the cylinder body of straight line cylinder III, connecting rod 803 is connected on the piston rod II I803 of pawl arm 804 and straight line cylinder III,
It is equipped with spring 802 on the piston rod II I803 of straight line cylinder III, plays damping, reset response, the straight line cylinder III is living
The folding of the flexible realization pawl arm 804 of stopper rod III803.
The foregoing is merely preferred embodiments of the invention, are not intended to restrict the invention, for those skilled in the art
For, the invention may be variously modified and varied.All any modification, equivalent substitution, improvement and etc. made for the present invention, should all
It is included within protection scope of the present invention.
Claims (5)
1. a kind of pneumatic actuation industrial robot structure includes pedestal (1), rotary cylinder I(2), straight line cylinder I(3), connecting cylinder
(4), straight line cylinder II(5), clump weight (6), rotary cylinder II(7), gripper (8), it is characterised in that: the rotary cylinder I
(2) include rotating shaft I(201), tapered roller bearing (202), attachment base (203), deep groove ball bearing (204)；The straight line
Cylinder I (3) includes piston rod I (301), stomata I(302), cylinder body (303)；Stomata II is provided on the connecting cylinder (4)
(401)；The straight line cylinder II(5) include locking nut I(501), guide rod (502), piston rod II (503), linear bearing
(504), connecting flange I(505)；The rotary cylinder II(7) include rotating shaft II(701), connecting flange II (702), lock
Tight nut II(703)；The gripper (8) includes piston rod II I (801), spring (802), connecting rod (803), pawl arm (804)；
The rotary cylinder I(2) lower part be connected on pedestal (1), the rotary cylinder I(2) top pass through attachment base
(203) be fixed together with straight line cylinder I(2), the straight line cylinder I(3) moving direction and straight line cylinder II(5) shifting
Direction is moved into an angle of 90 degrees, the straight line cylinder II(5) it is fixed together by connecting cylinder (4) with straight line cylinder I(3), it is described
Rotary cylinder II(7) straight line cylinder II(5 is connected in by the connecting flange I(505 of piston rod II (503))) on, it is described
Gripper (8) passes through connecting flange II(702) it is connected in rotary cylinder II(7) on, the gripper (8) is opened and closed by straight line cylinder
III driving；The clump weight (6) is fixed together with straight line cylinder II(5), prevents gripper (8) from making work when grabbing weight
Industry robot tumbles；The rotary cylinder I(2) realize industrial robot revolution；The straight line cylinder I(3) it is real
The rise and fall of existing industrial robot waist；The straight line cylinder II(5) realize the flexible of industrial machine human arm；Institute
The rotary cylinder II(7 stated) rotation of industrial robot wrist is realized, and then change the crawl direction of gripper (8).
2. a kind of pneumatic actuation industrial robot structure according to claim 1, it is characterised in that: the rotary cylinder
I(2) be fixed on pedestal (1) by screw I, for protect rotary cylinder I(2) rotating shaft I(201), in rotary cylinder I(2)
Top be equipped with attachment base (203, the attachment base (203) is fixed on rotary cylinder I(2 by screw II) top, connecting
Equipped with tapered roller bearing (202) and deep groove ball bearing (204), straight line cylinder I(3 on seat) piston rod I (301) respectively with circle
The inner ring cooperation of column roller bearing (202), deep groove ball bearing (204), the rotary cylinder I(2) rotating shaft I(201) it is logical
The piston rod I (301) for crossing jackscrew and straight line cylinder I(3) is fixed together, in cylinder roller bearing (202), deep groove ball bearing
(204) under the action of, rotary cylinder I(2) make rotating shaft I(201 under the influence of air pressure) drive straight line cylinder I(3) and installation
Component on straight line cylinder I(3) turns round together.
3. a kind of pneumatic actuation industrial robot structure according to claim 1, it is characterised in that: the straight line cylinder
I(3 it) is fixed together with connecting cylinder (4) by screw III, is equipped with stomata (401) on connecting cylinder (4), also opened on straight line cylinder I
Have stomata II(302), the stomata I(401 on the connecting cylinder (4)) air inlet, straight line cylinder I(3) and on stomata II(302) go out
When gas, under the influence of air pressure, piston rod I (301) is motionless, and cylinder body (304) is raised above, and drives coupled mechanism together
Rise, stomata (401) outlet, straight line cylinder I(3 on the connecting cylinder (4)) on stomata II(302) air inlet when, piston
Bar I(301) motionless, cylinder body (303) falls downward, and then drive and decline together with the mechanism that cylinder body (303) are connected.
4. a kind of pneumatic actuation industrial robot structure according to claim 1, it is characterised in that: the straight line cylinder
II(5) under the influence of air pressure, the stretching and retraction of piston rod II (503), straight line cylinder II(5 are realized) it is fixed by screw IV
On connecting cylinder (4)；The straight line cylinder II(5) piston rod II (503) connecting flange I(505) on be equipped with linear bearing
(504), connecting flange I(505) pass through locking nut I(501) be fixed tightly on piston rod II (503), guide rod (502) passes through straight line
Bearing (504) is simultaneously fixed on straight line cylinder II(503) two sides and piston rod connecting flange I(505) on, straight line cylinder II
(5) when piston rod II (503) is flexible, guide rod (502) is motionless, and linear bearing (504) is slided along guide rod (502), and then band
It stretches together with the dynamic mechanism connected with connecting flange I(505).
5. a kind of pneumatic actuation industrial robot structure according to claim 1, it is characterised in that: the locking nut
II(701 connecting flange II(703)) is fixed on rotary cylinder II(7) rotating shaft II(701) on, the rotary cylinder II
(7) it is connected by screw V and straight line cylinder II(5) with gripper (8), gripper (8) is connected in connecting flange by screw VI
II(702 on), rotary cylinder II(7) revolution when, rotating shaft II(701) drive coupled gripper (8) revolution, Jin Ergai
Become the crawl direction of gripper (8)；The pawl arm (804) of the gripper (8) is fixed on the cylinder body of straight line cylinder III, connecting rod
(803) it is connected to the piston rod II I(803 of pawl arm (804) and straight line cylinder III) on, the piston rod of straight line cylinder III
III(803 on) be equipped with spring (802), play damping, reset response, the straight line cylinder III piston rod II I(803) stretch
The folding of pawl arm (804) is realized in contracting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048080.2A CN108942913A (en) | 2018-09-10 | 2018-09-10 | A kind of pneumatic actuation industrial robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048080.2A CN108942913A (en) | 2018-09-10 | 2018-09-10 | A kind of pneumatic actuation industrial robot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942913A true CN108942913A (en) | 2018-12-07 |
Family
ID=64476177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811048080.2A Withdrawn CN108942913A (en) | 2018-09-10 | 2018-09-10 | A kind of pneumatic actuation industrial robot structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN108942913A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4219723A (en) * | 1977-09-10 | 1980-08-26 | Honda Giken Kogyo Kabushiki Kaisha | Automatic welding machine with three-dimensional cam driven motion |
| US5624364A (en) * | 1993-09-04 | 1997-04-29 | Kuka Schweissanlagen & Roboter Gmbh | Tool change device for manipulators |
| CN202144069U (en) * | 2011-06-22 | 2012-02-15 | 于复生 | Four degree-of-freedom pneumatic mechanical arm |
| CN203919049U (en) * | 2014-05-08 | 2014-11-05 | 昆明理工大学 | A kind of novel pneumatic manipulator |
| CN104139393A (en) * | 2014-06-26 | 2014-11-12 | 陕西启源科技发展有限责任公司 | Pneumatic transfer mechanical arm |
| CN204136061U (en) * | 2014-09-24 | 2015-02-04 | 河南工业职业技术学院 | A kind of novel automatic pneumatic machinery pawl |
| CN105436976A (en) * | 2015-12-29 | 2016-03-30 | 哈尔滨工业大学 | Industrial robot for gear machining |
| CN205325684U (en) * | 2016-02-01 | 2016-06-22 | 重庆达瑞森通实业有限公司 | Pneumatic industrial robot |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN106926232A (en) * | 2017-04-06 | 2017-07-07 | 青岛科技大学 | A kind of four-degree-of-freedom Pneumatic manipulator |
| CN207402794U (en) * | 2017-10-27 | 2018-05-25 | 安徽工程大学 | A kind of turning manipulator |
| CN108115659A (en) * | 2016-11-28 | 2018-06-05 | 魏莹 | A kind of pneumatic explosive conveying robot based on PLC |
-
2018
- 2018-09-10 CN CN201811048080.2A patent/CN108942913A/en not_active Withdrawn
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4219723A (en) * | 1977-09-10 | 1980-08-26 | Honda Giken Kogyo Kabushiki Kaisha | Automatic welding machine with three-dimensional cam driven motion |
| US5624364A (en) * | 1993-09-04 | 1997-04-29 | Kuka Schweissanlagen & Roboter Gmbh | Tool change device for manipulators |
| CN202144069U (en) * | 2011-06-22 | 2012-02-15 | 于复生 | Four degree-of-freedom pneumatic mechanical arm |
| CN203919049U (en) * | 2014-05-08 | 2014-11-05 | 昆明理工大学 | A kind of novel pneumatic manipulator |
| CN104139393A (en) * | 2014-06-26 | 2014-11-12 | 陕西启源科技发展有限责任公司 | Pneumatic transfer mechanical arm |
| CN204136061U (en) * | 2014-09-24 | 2015-02-04 | 河南工业职业技术学院 | A kind of novel automatic pneumatic machinery pawl |
| CN105436976A (en) * | 2015-12-29 | 2016-03-30 | 哈尔滨工业大学 | Industrial robot for gear machining |
| CN205325684U (en) * | 2016-02-01 | 2016-06-22 | 重庆达瑞森通实业有限公司 | Pneumatic industrial robot |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN108115659A (en) * | 2016-11-28 | 2018-06-05 | 魏莹 | A kind of pneumatic explosive conveying robot based on PLC |
| CN106926232A (en) * | 2017-04-06 | 2017-07-07 | 青岛科技大学 | A kind of four-degree-of-freedom Pneumatic manipulator |
| CN207402794U (en) * | 2017-10-27 | 2018-05-25 | 安徽工程大学 | A kind of turning manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |