CN109623804A - A kind of light-duty mechanical arm for carrying heavy load - Google Patents
A kind of light-duty mechanical arm for carrying heavy load Download PDFInfo
- Publication number
- CN109623804A CN109623804A CN201811563941.0A CN201811563941A CN109623804A CN 109623804 A CN109623804 A CN 109623804A CN 201811563941 A CN201811563941 A CN 201811563941A CN 109623804 A CN109623804 A CN 109623804A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- manipulator
- light
- carriage
- heavy load
- 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.)
- Granted
Links
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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the light-duty mechanical arms that one kind can carry heavy load, and including fixed respectively bearing frame and mechanical arm, bearing frame is equipped with carriage, and carriage is equipped with manipulator, the mobile terminal of mechanical arm and manipulator fixed-link.Manipulator bears the weight of moving object for grabbing and clamping moving object, bearing frame, and mechanical arm not load-bearing plays traction positioning action, and carriage moves under motor driven with mechanical arm simultaneously.The present invention has the advantages that manipulator clamps moving object, boom hoisting slings manipulator, and bearing frame bears moving object weight, mechanical arm hitching machinery hands movement, and carriage is under respective motor driven and mechanical arm cooperative motion.Under the premise of meeting requirement, mechanical arm body weight is alleviated, while improving the crawl weight quality upper limit, the personal safety accident being likely to occur when avoiding people's execute-in-place.
Description
Technical field
The present invention relates to field of automated mechanical technology, and in particular to one kind can carry the light-duty mechanical arm of heavy load.
Background technique
Robot is widely used in the automated production of all trades and professions, it can according to blas grab, carry or
Operational instrument completes appointed task.Mechanical arm is the important component of robot.It is big using the crawl of motor-driven mechanical arm
The volume of the object of quality, required mechanical arm is big, at high cost.The prior art needs the very big device space in carrying heavy goods,
It cannot achieve accurate positioning simultaneously, and need people's execute-in-place, there are security risks.
The limited quality of tradition machinery arm carrying heavy goods, while the production cost is very high for mechanical arm.Neither it is able to satisfy the modern times
The demand of industrial mass production, and production efficiency is low, manpower and high production cost, is also easy to the person occur in production process
Security risk.
Summary of the invention
Present invention aim to be directed to the deficiency of existing apparatus, a kind of light-duty machinery that can carry heavy load is provided
Arm, effectively increases the quality upper limit of mechanical arm carrying heavy goods, while reducing the production cost of mechanical arm.
To achieve the above object, one kind according to the present invention can carry the light-duty mechanical arm of heavy load, including solid respectively
Fixed bearing frame and mechanical arm, bearing frame be equipped with carriage, carriage be equipped with manipulator, the mobile terminal of mechanical arm with
Manipulator fixed-link.Manipulator bears the weight of moving object for grabbing and clamping moving object, bearing frame, and mechanical arm is not
Load-bearing, plays traction positioning action, and carriage moves under motor driven with mechanical arm simultaneously.
Further, the bearing frame includes vertically disposed column and horizontally disposed crossbeam, stringer, the sliding
Device be arranged on stringer, can on stringer transverse shifting.Column, crossbeam and stringer materials'use aluminum profile, can be according to carrying
Object different weight increases crossbeam and stringer in different location, to increase bearing frame rigidity.
Further, the carriage includes the lateral bearing plate being arranged on bearing frame, is also set on the bearing frame
There is cross motor, the cross motor passes through lateral belt and controls lateral bearing plate transverse shifting on bearing frame；The transverse direction
Bearing plate is equipped with longitudinal bearing plate, is additionally provided with longitudinal motor on the longitudinal direction bearing plate, the longitudinal motor with it by connecting
The longitudinal screw mandrel connect controls longitudinal bearing plate and vertically moves on lateral bearing plate, drives manipulator in the horizontal plane to realize
It moves freely.
Further, hoisting apparatus is additionally provided on the carriage, the manipulator passes through wirerope and a refitting
Connection is set, the hoisting apparatus is arranged on longitudinal bearing plate.
Further, it is equipped with damper at the top of the manipulator, is connected with link block, the connection below the damper
Block is equipped with clamping jaw, and the clamping jaw is equipped with support frame.
Further, the damper includes spring pocket, and spring base is equipped in the spring pocket, is set on the spring base
There is a spring, the inner bottom surface of the spring pocket is equipped with spring pressure sensor, and the spring base bottom is equipped with through-hole, in the through-hole
Equipped with screw rod, the steel wire penetrating spring pocket and spring base are fixedly connected with screw rod.In lifting process and handling process, resistance
Buddhist nun's device can make the pulling force in wirerope remain constant force.
As preference, the movable end of the mechanical arm is connect with support frame.
As preference, the column is equipped with lower margin mounting plate.
As preference, support frame as described above is equipped with steering engine and detection clamping jaw, and the steering engine is connected by drive shaft with first
Bar connection, the first connecting rod with its hinged second connecting rod with detection clamping jaw by connecting.
As preference, the folder object end of the detection clamping jaw is equipped with pressure sensor.
The present invention has the advantages that its manipulator clamps moving object, boom hoisting slings manipulator, and bearing frame receiving is removed
Object weight is transported, mechanical arm hitching machinery hands movement, carriage is under respective motor driven and mechanical arm cooperative motion.Full
Under the premise of sufficient requirement, mechanical arm body weight is alleviated, while improving the crawl weight quality upper limit, it is existing to avoid people
The personal safety accident being likely to occur when the operation of field.
Detailed description of the invention
Fig. 1 is configuration state schematic diagram of the invention；
Fig. 2 is the mounting structure schematic diagram of bearing frame；
Fig. 3 is the mounting structure schematic diagram of carriage；
Fig. 4 is the mounting structure schematic diagram of mechanical arm；
Fig. 5 is the mounting structure schematic diagram of hoisting apparatus and manipulator；
Fig. 6 is the magnification fluoroscopy schematic diagram in Fig. 5 at A；
Fig. 7 is the mounting structure schematic diagram for detecting clamping jaw.
In figure: bearing frame 1 (wherein: column 1.1, lower margin mounting plate 1.1.1, crossbeam 1.2, stringer 1.3), is slided mechanical arm 2
Dynamic device 3 is (wherein: lateral bearing plate 3.1, longitudinal bearing plate 3.2, cross motor 3.3, lateral belt 3.3.1, longitudinal motor
3.4, longitudinal screw mandrel 3.4.1), manipulator 4 (wherein: damper 4.1, spring cover 4.11, spring base 4.12, spring 4.13, spring pressure
Force snesor 4.14, through-hole 4.15, screw rod 4.16, link block 4.2, clamping jaw 4.3, support frame 4.4, steering engine 4.4.1, drive shaft
4.4.2, first connecting rod 4.4.3 connection, second connecting rod 4.4.4, pressure sensor 4.5, detection clamping jaw 4.6), 5 (its of hoisting apparatus
In: wirerope 5.1).
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
Such as Fig. 1~7, a kind of light-duty mechanical arm for carrying heavy load, including fixed respectively bearing frame 1 and mechanical arm 2,
The bearing frame 1 is equipped with carriage 3, and the carriage 3 is equipped with manipulator 4, the mobile terminal of the mechanical arm 2 and machine
4 fixed-link of tool hand.The bearing frame 1 includes vertically disposed column 1.1 and horizontally disposed crossbeam 1.2, stringer 1.3, institute
State carriage 3 be arranged on stringer 1.3 can on stringer 1.3 transverse shifting.The carriage 3 includes being arranged in bearing frame
Lateral bearing plate 3.1 on 1, cross motor 3.3 is additionally provided on the bearing frame 1, and the cross motor 3.3 passes through lateral belt
3.3.1 the lateral transverse shifting on bearing frame 1 of bearing plate 3.1 is controlled；The transverse direction bearing plate 3.1 is equipped with longitudinal bearing plate
3.2, longitudinal motor 3.4 is additionally provided on the longitudinal direction bearing plate 3.2, and the longitudinal motor 3.4 passes through longitudinal silk connected to it
Bar 3.4.1 controls longitudinal bearing plate 3.2 and vertically moves on lateral bearing plate 3.1, drives manipulator 4 in horizontal plane to realize
On move freely.Hoisting apparatus 5 is additionally provided on the carriage 3, the manipulator 4 passes through wirerope 5.1 and hoisting apparatus 5
Connection, the hoisting apparatus 5 are arranged on longitudinal bearing plate 3.2.Damper 4.1, the damping are equipped at the top of the manipulator 4
Link block 4.2 is connected with below device 4.1, the link block 4.2 is equipped with clamping jaw 4.3, and the clamping jaw 4.3 is equipped with support frame
4.4.Support frame as described above 4.4 be equipped with steering engine 4.4.1 and detection clamping jaw 4.6, the steering engine 4.4.1 by drive shaft 4.4.2 with
First connecting rod 4.4.3 connection, the first connecting rod 4.4.3 are connected by the second connecting rod 4.4.4 hinged with it and detection clamping jaw 4.6
It connects.The folder object end of the detection clamping jaw 4.6 is equipped with pressure sensor 4.5.The damper 4.1 includes spring pocket 4.11, described
Spring base 4.12 is equipped in spring pocket 4.11, the spring base 4.12 is equipped with spring 4.13, the interior bottom of the spring pocket 4.11
Face is equipped with spring pressure sensor 4.14, and the spring base bottom is equipped with through-hole 4.15, is equipped with screw rod in the through-hole 4.15
4.16, the wirerope 5.1 passes through spring pocket 4.11 and spring base 4.12 is fixedly connected with screw rod 4.16.The mechanical arm 2
Movable end is connect with support frame 4.4.The column 1.1 is equipped with lower margin mounting plate 1.1.1.
The present invention is in actual use:
Embodiment 1: the carriage 3 includes X carriage, Y carriage, the X carriage and Y carriage
It is moved simultaneously under respective motor driven with mechanical arm 2.
The bearing frame 1 includes crossbeam 1.2, stringer 1.3, Y sliding rail, right-angle connector and bearing block support plate.The cross
Beam 1.2 and 1.3 each two groups of stringer are respectively arranged in parallel, are fixedly connected with column 1.1 by right-angle connector, constitute rectangle
Frame.Two groups of Y sliding rails are separately mounted on each crossbeam 1.2.Support plate mounting plate is mounted on the connection of crossbeam 1.2 and column 1.1
Place outside, bearing block support plate are mounted on support plate mounting plate.1.3 materials'use aluminium profiles of column 1.1, crossbeam 1.2 and stringer
Material can increase crossbeam and stringer in different location according to moving object different weight, to increase bearing frame rigidity.
The Y carriage, includes Y sliding frame, Y driving device and X driving device, and Y driving device driving Y rack exists
It slidably reciprocates on Y sliding rail.X driving device is used to drive X carriage along the movement of X sliding rail.The Y sliding frame, it is horizontal comprising Y
Beam, Y stringer, X sliding rail, right-angle connector and sliding block, four sliding blocks are symmetrically mounted on double Y stringer bottoms, and double Y crossbeams and double Y are vertical
Beam is fixedly connected, and double X sliding rails are fixedly mounted on double Y crossbeams, and right angle link block is mounted on the X extreme on Y crossbeam, is used to
Limit the stroke of X carriage.Y crossbeam and Y stringer material are aluminum profile.The Y driving device includes synchronous belt, synchronous belt
Fixed block, synchronous pulley, synchronous pulley shaft, transmission shaft, big V belt wheel, small V belt wheel, V band, Y driving motor, transmission shaft bearing
Seat.Synchronous belt is arranged symmetrically in the outside of the double crossbeams of bearing frame, and motor is arranged on one side girder of bearing frame, small V belt wheel and electricity
Arbor is connected, and big V belt wheel and transmission shaft are connected, and motor is rotated by V band driving transmission shaft, and both ends of the drive shaft is respectively fixedly connected with
Synchronous pulley, the synchronous pulley that the bearing frame other side is arranged symmetrically are fixed on bearing frame by synchronous pulley shaft and bearing block
On, two ipsilateral synchronous pulleys of bearing frame crossbeam and synchronous belt are meshed, and synchronous belt is fixed on Y skate machine by synchronous belt fixed block
On frame.
The X driving device includes lead screw, lead screw shaft bearings and X driving motor.Bearing is installed at lead screw both ends, and bearing is embedding
Enter bearing block, bearing block is fixed on the Y stringer of Y carriage, and motor is mounted on the outside of bearing block and lead screw is connected.The X
Carriage includes X sliding frame and boom hoisting.X sliding frame slidably reciprocates under the driving of X driving device along X sliding rail, rises
Device for hoisting is fixed on X sliding frame.The X sliding frame includes sliding block, X crossbeam, X stringer and nut seat.The fixed peace of sliding block
Mounted in X stringer bottom, X crossbeam is fixedly connected with X stringer, and nut seat is fixedly connected with X crossbeam, and two sides are arranged symmetrically and X driving
Lead screw in device matches.X crossbeam and X stringer material are aluminum profile.
The hoisting apparatus 5 includes bridge motor, shaft coupling, capstan winch bearing block, wirerope 5.1, capstan winch and lifting motor
Mounting plate.Motor is fixed on floor, and capstan winch is fixedly connected by shaft coupling with motor shaft, and capstan winch is fixed on bottom by bearing block
On plate, wirerope one end is connected on capstan winch.
The manipulator 4 includes damper 4.1, and damper 4.1 includes spring set 4.11, spring base 4.12, spring 4.13, leads to
Hole 4.14, screw rod 4.15.Spring 4.13 is on spring base 4.12, and spring socket sleeve 4.12 is in spring pocket 4.11, spring pocket
4.11 inside upper bottom surfaces install spring pressure sensor 4.14, and screw rod 4.16 passes through 4.12 base apertures of spring base, solid by nut
Fixed, wirerope 5.1 passes through spring pocket 4.11 and spring base 4.12 is fixedly connected with screw rod 4.16.
The manipulator 4 includes clamping jaw 4.3, drive shaft 4.4.2, support frame 4.4, link block 4.2, steering engine 4.4.1, detection
Clamping jaw 4.6 and pressure sensor 4.5.Clamping jaw 4.3 and detection clamping jaw 4.6 are connected on support frame 4.4 by fixing axle, clamping jaw
4.3 are connected by load-bearing axle and link block 4.2, and load-bearing axle can be slided in 4.3 sliding slot of clamping jaw, and steering engine 4.4.1 is fixed on support
On frame 4.4, driving detection clamping jaw 4.6 is rotated around drive shaft 4.4.2.4.3 top of clamping jaw opens up notch, and totally 4, symmetrically
It is arranged in support frame two sides.The detection clamping jaw 4.6 can be rotated around drive shaft 4.4.2, and pressure sensor 4.5 is installed on head,
For detecting the presence of carry an object, there is then release movement signal, make to lift by crane motor, X driving motor, Y driving motor and light-duty machine
Tool arm co-operating.The mechanical arm 2, is manufactured, payload-weight ratio is small with lightweight material.
Finally it is pointed out that above embodiments are only the more representational examples of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deformations.It is all made to the above embodiment any simple according to the technical essence of the invention
Modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (10)
1. the light-duty mechanical arm that one kind can carry heavy load, it is characterised in that: including fixed respectively bearing frame (1) and mechanical arm
(2), the bearing frame (1) is equipped with carriage (3), and the carriage (3) is equipped with manipulator (4), the mechanical arm
(2) mobile terminal and manipulator (4) fixed-link.
2. the light-duty mechanical arm that one kind according to claim 1 can carry heavy load, it is characterised in that: the bearing frame
It (1) include vertically disposed column (1.1) and horizontally disposed crossbeam (1.2), stringer (1.3), carriage (3) setting
On stringer (1.3), can on stringer (1.3) transverse shifting.
3. the light-duty mechanical arm that one kind according to claim 2 can carry heavy load, it is characterised in that: the carriage
(3) include the lateral bearing plate (3.1) being arranged on bearing frame (1), be additionally provided with cross motor (3.3) on the bearing frame (1),
The cross motor (3.3) passes through lateral belt (3.3.1) and controls lateral bearing plate (3.1) transverse shifting on bearing frame (1)；
The transverse direction bearing plate (3.1) is equipped with longitudinal bearing plate (3.2), is additionally provided with longitudinal direction on the longitudinal direction bearing plate (3.2)
Motor (3.4), the longitudinal motor (3.4) control longitudinal bearing plate (3.2) by longitudinal screw mandrel connected to it (3.4.1) and exist
It is vertically moved on lateral bearing plate (3.1), drives manipulator (4) to move freely in the horizontal plane to realize.
4. the light-duty mechanical arm that one kind according to claim 3 can carry heavy load, it is characterised in that: the carriage
(3) it is additionally provided on hoisting apparatus (5), the manipulator (4) is connect by wirerope (5.1) with hoisting apparatus (5), the lifting
Device (5) is arranged on longitudinal bearing plate (3.2).
5. the light-duty mechanical arm that one kind according to claim 4 can carry heavy load, it is characterised in that: the manipulator
(4) top is equipped with damper (4.1), is connected with link block (4.2) below the damper (4.1), on the link block (4.2)
Equipped with clamping jaw (4.3), the clamping jaw (4.3) is equipped with support frame (4.4).
6. one kind described according to claim 1~any one of 5 can carry the light-duty mechanical arm of heavy load, feature exists
In: the damper (4.1) includes spring pocket (4.11), is equipped with spring base (4.12) in the spring pocket (4.11), the bullet
Spring abutment (4.12) is equipped with spring (4.13), and the inner bottom surface of the spring pocket (4.11) is equipped with spring pressure sensor (4.14),
The spring base bottom is equipped with through-hole (4.15), is equipped with screw rod (4.16) in the through-hole (4.15), and the wirerope (5.1) is worn
It crosses spring pocket (4.11) and spring base (4.12) is fixedly connected with screw rod (4.16).
7. the light-duty mechanical arm that one kind according to claim 6 can carry heavy load, it is characterised in that: the mechanical arm
(2) movable end is connect with support frame (4.4).
8. the light-duty mechanical arm that one kind according to claim 7 can carry heavy load, it is characterised in that: the column
(1.1) it is equipped with lower margin mounting plate (1.1.1).
9. the light-duty mechanical arm that one kind according to claim 4 can carry heavy load, it is characterised in that: support frame as described above
(4.4) it is equipped with steering engine (4.4.1) and detection clamping jaw (4.6), the steering engine (4.4.1) passes through drive shaft (4.4.2) and first
Connecting rod (4.4.3) connection, the first connecting rod (4.4.3) pass through the second connecting rod (4.4.4) hinged with it and detection clamping jaw
(4.6) it connects.
10. the light-duty mechanical arm that one kind according to claim 9 can carry heavy load, it is characterised in that: the detection folder
The folder object end of pawl (4.6) is equipped with pressure sensor (4.5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563941.0A CN109623804B (en) | 2018-12-20 | 2018-12-20 | Light mechanical arm capable of carrying heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563941.0A CN109623804B (en) | 2018-12-20 | 2018-12-20 | Light mechanical arm capable of carrying heavy load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109623804A true CN109623804A (en) | 2019-04-16 |
| CN109623804B CN109623804B (en) | 2022-03-18 |
Family
ID=66075878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811563941.0A Active CN109623804B (en) | 2018-12-20 | 2018-12-20 | Light mechanical arm capable of carrying heavy load |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623804B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924707A (en) * | 2020-06-24 | 2020-11-13 | 广州环投福山环保能源有限公司 | Shaft grabbing device |
| CN114474140A (en) * | 2022-03-24 | 2022-05-13 | 石河子大学 | Agricultural product sorting robot |
| CN117817692A (en) * | 2024-03-04 | 2024-04-05 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN104175331A (en) * | 2014-08-18 | 2014-12-03 | 天津航天机电设备研究所 | Joint type manipulator low gravity compensation system |
| CN206296898U (en) * | 2016-12-12 | 2017-07-04 | 山东好帮手机器人有限公司 | A kind of welding beam formula heavy type truss robot |
| CN206357214U (en) * | 2016-12-13 | 2017-07-28 | 徐州欧普莱斯工业机械有限公司 | A kind of suspension type boosting manipulator |
| CN206643915U (en) * | 2017-04-14 | 2017-11-17 | 童红妃 | A kind of double telescopic mechanical arms |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN108381535A (en) * | 2018-05-14 | 2018-08-10 | 镇江智力机器人有限公司 | A kind of novel light six degree of freedom cooperation mechanical arm |
-
2018
- 2018-12-20 CN CN201811563941.0A patent/CN109623804B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN104175331A (en) * | 2014-08-18 | 2014-12-03 | 天津航天机电设备研究所 | Joint type manipulator low gravity compensation system |
| CN206296898U (en) * | 2016-12-12 | 2017-07-04 | 山东好帮手机器人有限公司 | A kind of welding beam formula heavy type truss robot |
| CN206357214U (en) * | 2016-12-13 | 2017-07-28 | 徐州欧普莱斯工业机械有限公司 | A kind of suspension type boosting manipulator |
| CN206643915U (en) * | 2017-04-14 | 2017-11-17 | 童红妃 | A kind of double telescopic mechanical arms |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN108381535A (en) * | 2018-05-14 | 2018-08-10 | 镇江智力机器人有限公司 | A kind of novel light six degree of freedom cooperation mechanical arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924707A (en) * | 2020-06-24 | 2020-11-13 | 广州环投福山环保能源有限公司 | Shaft grabbing device |
| CN114474140A (en) * | 2022-03-24 | 2022-05-13 | 石河子大学 | Agricultural product sorting robot |
| CN117817692A (en) * | 2024-03-04 | 2024-04-05 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
| CN117817692B (en) * | 2024-03-04 | 2024-04-30 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623804B (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102259761B (en) | Car roof gripping and conveying device | |
| CN107826737B (en) | Automatic grabbing manipulator for feeding and discharging locomotive brake disc assembly | |
| CN109623804A (en) | A kind of light-duty mechanical arm for carrying heavy load | |
| CN106364910A (en) | Mechanical hand capable of working on any 3D curve and action process for mechanical hand | |
| CN106335050A (en) | Ceramic tile grabbing mechanism and mechanical arm for firmly grabbing ceramic tiles | |
| CN106346467A (en) | W-axis rotating mechanism and manipulator capable of rotating around z-axis | |
| CN106272407A (en) | A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change | |
| CN106426151A (en) | Z-axial walking mechanism and gravitational balance mechanism with manipulator | |
| CN101318516A (en) | Convey device and method for joint cross step cover of marine diesel | |
| CN106348009A (en) | Pallet grab mechanism and machine hand capable of grabbing pallet | |
| CN204173853U (en) | A kind of vertical lift slide mechanism and steel pipe code stamp machine | |
| CN206317074U (en) | A kind of x-axis walking mechanism and the manipulator that can be moved along x-axis speed change | |
| CN203922509U (en) | A kind of overhead hoist of hull plate | |
| CN206318462U (en) | It is a kind of can arbitrarily 3D curves work manipulator | |
| CN206317067U (en) | A kind of ceramic tile grasping mechanism and the crawl firm manipulator of ceramic tile | |
| CN206318464U (en) | A kind of pallet grasping mechanism and the manipulator of pallet can be captured | |
| CN212740461U (en) | Hard-arm type three-dimensional iron core winding and hoisting manipulator | |
| CN206317072U (en) | A kind of z-axis walking mechanism and the manipulator with gravitational equilibrium mechanism | |
| CN202877793U (en) | Turnover machine for welding frame of semitrailer | |
| CN211137142U (en) | Heavy-load truss robot | |
| CN104261308A (en) | Vertical lifting sliding mechanism and application thereof | |
| CN206318496U (en) | A kind of grasping mechanism and the manipulator that pallet can be laid | |
| CN210558937U (en) | Large-scale mould clamp gets overhead traveling crane | |
| CN110883759B (en) | Large-load unbalance-loading truss robot | |
| CN206318500U (en) | A kind of y-axis drive mechanism and the manipulator that can be moved along y-axis speed change |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |