CN104972454A - State conversion device used for manipulator and manipulator comprising state conversion device - Google Patents
State conversion device used for manipulator and manipulator comprising state conversion device Download PDFInfo
- Publication number
- CN104972454A CN104972454A CN201510316822.5A CN201510316822A CN104972454A CN 104972454 A CN104972454 A CN 104972454A CN 201510316822 A CN201510316822 A CN 201510316822A CN 104972454 A CN104972454 A CN 104972454A
- Authority
- CN
- China
- Prior art keywords
- fixture
- bar
- piston rod
- cylinder
- piston
- 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
Landscapes
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a state conversion device used for a manipulator and the manipulator comprising the state conversion device, and belongs to the technical field of industrial automation. The state conversion device comprises a first fixing part with two through holes, a first air cylinder, a second air cylinder, a limiting device and a second fixing part, wherein the first air cylinder, the second air cylinder and the limiting device are installed on the first fixing part; the limiting device is located between the first air cylinder and the second air cylinder; a first fixing rod and a first piston rod of the first air cylinder penetrating through one through hole are connected through at least one spherical hinge; a second fixing rod and a second piston rod of the second air cylinder penetrating through the other through hole are connected through at least one spherical hinge. When the first piston rod and the second piston rod stretch out, the limiting device and the second fixing part keep an interval, and the state conversion state is in a flexible state. When the first piston rod and the second piston rod retract, the limiting device abuts against the second fixing part, and the state conversion device is converted to be in a rigid state. Flexible conversion between the flexible state and the rigid state of the whole device is finally achieved by controlling stretching and retracting of the two piston rods.
Description
Technical field
The present invention relates to technical field of automation in industry, particularly for manipulator state converter and comprise the manipulator of this device.
Background technology
Along with the development of science and technology, the arrival in advance of China's aging population, be recently with the phenomenon having occurred that serious labour is rare in southeastern coast one, with regard to an urgent demand, we improve labour productive forces for this, to reduce the labour intensity of workman, improve industrial automation level.
There are some manipulators in prior art, be mainly used in automatic industrial manufacturing line, can alleviate workman a large amount of repeat work, can boost productivity again simultaneously.
But traditional manipulator is generally in single rigid state, and the State Transferring of manipulator is flexible like that not as good as staff, can not complete crawl and the assembly manipulation of some high-precision parts.
Summary of the invention
The present invention is directed to above-mentioned deficiency, provide a kind of can between rigidity or flexible state the state converter for manipulator of flexible conversion, technical scheme is as follows:
For a state converter for manipulator, comprise the first fixture being provided with two through holes, the stopping means being arranged on the first cylinder above the first fixture, the second cylinder and being arranged on below the first fixture, and the second fixture;
The while that described stopping means being between described first cylinder and described second cylinder again between described first fixture and described second fixture; Described second fixture is provided with the first fixed bar and the second fixed bar, use at least one ball pivot to be connected described first fixed bar and the first piston bar of the first cylinder through one of them through hole, described second fixed bar and the second piston rod of the second cylinder through another through hole, use at least one ball pivot to be connected;
When described first piston bar and described second piston rod stretch out completely, leave gap between described stopping means and described second fixture, when described first piston bar and described second piston rod are retracted completely, described stopping means props up described second fixture.
As a modification of the present invention, also comprise head rod and the second connecting rod, the two ends of described head rod use ball pivot to be connected respectively with between one end of described first piston bar and one end of described first fixed bar, and the two ends of described second connecting rod use ball pivot to be connected respectively with between one end of described second piston rod and one end of described second fixed bar.
As of the present invention another kind improve, the axis of described first piston bar and the axis keeping parallelism of described second piston rod, and described first piston bar and described second piston rod respectively and described stopping means keep identical interval.
Preferably, described stopping means is cylindrical straight-bar.
Preferably, when described first piston bar and described second piston rod are in when stretching out state completely, the spacing of 10 ~ 50mm between described stopping means and described second fixture, is kept.
Preferably, described first fixture and described second fixture are rectangular slab.
The beneficial effect of technique scheme is:
When the first cylinder and the second cylinder control first piston bar respectively and the second piston rod stretch out, retract time, the spacing between the second fixture and the first fixture changes; Because stopping means is between first piston bar and the second piston rod, and two piston rods when being retracted mode stopping means be tight against the second fixture, therefore, when two piston rods stretch out, second fixture is mobilizable flexible state relative to the first fixture, when two piston rods are retracted, second fixture is in not mobilizable rigid state, by controlling the stretching out of the piston rod of two cylinders, retracting, the flexible switching of whole state converter between flexible and rigid state can be realized.
On the other hand, the embodiment of the present invention additionally provides a kind of manipulator comprising above-mentioned state converter, in conjunction with this state converter, makes this manipulator can in flexible conversion between flexible and rigid state, thus complete crawl and the assembly manipulation of some high-precision parts, technical scheme is as follows:
A kind of manipulator, comprise above-mentioned state converter, also comprise the 3rd cylinder be arranged on above described second fixture and the fixed head be arranged on below described second fixture, the guide rail bracket of the band guide-track groove be connected with the movable end of the 3rd piston rod of described 3rd cylinder, and gripper; Described gripper comprises the first corpus unguis and the second corpus unguis that are positioned at the described guide rail bracket left and right sides, the middle part of described first corpus unguis and described second corpus unguis is hingedly fixed on described fixed head, and one end of described first corpus unguis and one end of described second corpus unguis are all slidably mounted in described guide-track groove.
As a modification of the present invention, described second fixture is the cuboid framework surrounded by the first transverse slat, starting stave, the second transverse slat and the second riser, described first fixed bar and described second fixed bar are arranged on described first transverse slat, and described 3rd cylinder and described fixed head are mounted opposite above and below described second transverse slat.
The beneficial effect of technique scheme is:
Stretched by the 3rd piston rod controlling the 3rd cylinder, the passive rising of guide rail bracket or decline, this just drives one end of two corpus unguis in guide-track groove synchronously rise or decline, middle part due to two corpus unguis of gripper is hinged fixing, so the other end of two corpus unguis starts to close up or open, also crawl and the unclamp operation of gripper is just completed, because gripper is fixed on the second fixture, while whole state converter switches between flexibility and rigid state, gripper itself is flexible conversion between flexibility and rigid state also, whole manipulator is facilitated to complete crawl for high-precision part and assembling.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flexible state structure chart of a kind of state converter for manipulator that the embodiment of the present invention 1 provides;
Fig. 2 is another flexible state structure chart of a kind of state converter for manipulator that the embodiment of the present invention 1 provides;
Fig. 3 is the rigid state structure chart of a kind of state converter for manipulator that the embodiment of the present invention 1 provides;
Fig. 4 is the another flexible state structure chart of a kind of state converter for manipulator that the embodiment of the present invention 1 provides;
Fig. 5 is the flexible state structure chart of a kind of manipulator that the embodiment of the present invention 2 provides;
Fig. 6 is another flexible state structure chart of a kind of manipulator that the embodiment of the present invention 2 provides;
Fig. 7 is the rigid state structure chart of a kind of manipulator that the embodiment of the present invention 2 provides.
Wherein, Reference numeral: 1, the first fixture; 2, the first cylinder; 3, the second cylinder; 4, stopping means; 5.1, the second fixture; 5.2, the second fixture; 5.2.1, the first transverse slat; 5.2.2, starting stave; 5.2.3, the second transverse slat; 5.2.4, the second riser; 6, the first fixed bar; 7, the second fixed bar; 8, first piston bar; 9, the second piston rod; 10, head rod; 11, the second connecting rod; 12, the 3rd cylinder; 13, fixed head; 14, the 3rd piston rod; 15, guide rail bracket; 15.1, guide-track groove; 16, gripper; 16.1, the first corpus unguis; 16.2, the second corpus unguis.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment 1
Present embodiments provide a kind of state converter for manipulator, be applicable to the duty of switch machine hand, as shown in Figure 1, this state converter comprises the first fixture 1 being provided with two through holes, the stopping means 4 being arranged on the first cylinder 2, second cylinder 3 above the first fixture 1 and being arranged on below the first fixture 1, and the second fixture 5.1; Wherein, the while that stopping means 4 being between the first cylinder 2 and the second cylinder 3 again between the first fixture 1 and the second fixture 5.1; Second fixture 5.1 is provided with the first fixed bar 6 and the second fixed bar 7, use at least one ball pivot to be connected first fixed bar 6 with the first piston bar 8 of the first cylinder 2 through one of them through hole, the second fixed bar 7 and through the second cylinder 3 of another through hole the second piston rod 9 use at least one ball pivot to connect; When first piston bar 8 and the second piston rod 9 stretch out completely, leave gap between stopping means 4 and the second fixture 5.1, when first piston bar 8 and the second piston rod 9 are retracted completely, stopping means 4 props up the second fixture 5.1.
Particularly, the cylinder body of the first cylinder 2 and the second cylinder 3 is fixed on the same side of the first fixture 1, and the piston rod of two cylinders (first piston bar 8 and the second piston rod 9) is each passed through two through holes on the first fixture 1, two piston rods can in the same direction synchronization telescope to change the relative distance between the first fixture 1 and the second fixture 5.1.First piston bar 8 and the second piston rod 9 be corresponding the first fixed bar 6 with being fixed on the second fixture 5.1 respectively, second fixed bar 7 is hinged, and it is hinged to use at least one ball pivot to carry out, be illustrated in figure 1 the situation only having a ball pivot to connect, this just makes to there is a turning joint between piston rod and fixed bar, second fixture 5.1 can do the motion of incline direction by relative first fixture 1, when two piston rods stretch out and stopping means 4 and the second fixture 5.1 keep a determining deviation, now the second fixture 5.1 can not be movable by external force restriction, be in flexible state, wherein, ball pivot is a kind of spatial joins hinge, and it is made up of ball and spherical shell two parts, only allows two parts to relatively rotate to limit both in three-dimensional relative movement around the public centre of sphere, the structure of ball pivot and operation principle are well known, do not repeat them here.
When two piston rods are retracted, stopping means 4 props up the second fixture 5.1, this just makes that piston rod forms pulling force to the second fixture 5.1 and stopping means 4 forms buffer brake to the second fixture 5.1, simultaneously because stopping means 4 is between two piston rods, this just causes the second fixture 5.1 be subject to the effect of contrary stable power and keep maintaining static, and what be in rigidity can not active state; Therefore, when the piston rod controlled on the first cylinder 2, second cylinder 3 stretches, just achieve the flexible switching of the second fixture 5.1 between flexibility and rigid state.
As shown in Figure 2, Figure 3 and Figure 4, wherein in a kind of implementation, this state converter also comprises head rod 10 and the second connecting rod 11, the two ends of head rod 10 respectively with one end of first piston bar 8 to use ball pivot to be connected between one end of you and the first fixed bar 6, the two ends of the second connecting rod 11 use ball pivot to be connected respectively with between one end of the second piston rod 9 and one end of the second fixed bar 7.
In as above implementation, arrange between first piston bar 8 with the first fixed bar 6 and be connected by head rod 10 and two ball pivots, arrange again between the second piston rod 9 and the second fixed bar 7 simultaneously and connected by the second connecting rod 11 and two ball pivots, this just makes just there have been two Universal active joints between piston rod and fixed bar, when maintenance first fixture 1 and the second fixture 5.1 level, second fixture 5.1 can do relative to the first fixture 1 and move horizontally stably, and the change in its angle and orientation is more flexible.
Further, in the present embodiment, the axis of first piston bar 8 and the axis keeping parallelism of the second piston rod 9, and first piston bar 8 and the second piston rod 9 respectively and stopping means 4 keep identical interval.Particularly, the axis being parallel of first piston bar 8, second piston rod 9 and stopping means 4 three, coplanar is set, the axisymmetrical of axis about stopping means 4 of two piston rods is set again simultaneously, two piston rods can be made more to balance between the second fixture 5.1 applied pressure the pulling force of the second fixture 5.1 and stopping means 4, and when making whole state converter be in rigid state, overall structure is more stable.
Further, in the present embodiment, stopping means 4 can be cylindrical straight bar.Easily know, in other implementation, stopping means 4 can also be square column type straight-bar or other erose straight-bars, does not limit at this to it.
Preferably, in the present embodiment, when first piston bar 8 and the second piston rod 9 are in when stretching out state completely, between stopping means 4 and the second fixture 5.1, keep the spacing of 10 ~ 50mm.Easily know, two-piston bar is set in when stretching out state, the spacing of 10 ~ 50mm is kept between stopping means 4 and the second fixture 5.1, this spacing is only a preferable range, in actual design process, those skilled in the art can also do adaptive change to this spacing, at this not as the restriction to the present embodiment according to relevant parameter.
Preferably, in the present embodiment, the first fixture 1 and the second fixture 5.1 are rectangular slab.Easily know, to arrange two fixtures be rectangular slab is only a kind of preferred embodiment of the present embodiment, in other implementation, the first fixture 1 and the second fixture 5.1 can also be circular slab, set square or other irregular shape plates, do not limit at this.
Embodiment 2
Present embodiments provide a kind of manipulator, as shown in Fig. 5 ~ 7, comprise state converter as described in example 1 above, also comprise the 3rd cylinder 12 be arranged on above the second fixture 5.2 and the fixed head 13 be arranged on below the second fixture 5.2, the guide rail bracket 15 of the band guide-track groove 15.1 be connected with the movable end of the 3rd piston rod 14 of the 3rd cylinder 12, and gripper 16; Wherein, gripper 16 comprises the first corpus unguis 16.1 and the second corpus unguis 16.2 being positioned at guide rail bracket 15 left and right sides, the middle part of the first corpus unguis 16.1 and the second corpus unguis 16.2 is hingedly fixed on fixed head 13, and one end of the first corpus unguis 16.1 and one end of the second corpus unguis 16.2 are all slidably mounted in guide-track groove 15.1.
In the present embodiment, the structure of state converter and operation principle detailed in Example 1, do not repeat them here, 3rd cylinder 12 is the dynamical element of gripper 16, by controlling the rise and fall of the 3rd piston rod 14, slide in one end of first corpus unguis 16.1 and the second corpus unguis 16.2 in guide-track groove 15.1, middle part due to two corpus unguis is all hinged on fixed head 13, this just make one end of two corpus unguis slide in guide-track groove 15.1 (vertical motion) simultaneously time, the other end of two corpus unguis closes up or opens, also crawl and the unclamp operation of gripper is namely realized, by gripper being arranged on the second fixture 5.2, when the piston rod on control first cylinder 2 and the second cylinder 3 flexible with control the second fixture 5.2 switch between flexible and rigid state time, the scope of activities of gripper 16 switches between size.In addition, in the present embodiment, guide rail bracket comprises the longitudinal rod that a transverse bar and are vertically fixed on transverse bar middle, wherein, one end of longitudinal rod is fixedly connected with one end of the 3rd piston rod 14, guide-track groove 15.1 be opened in transverse bar middle part and transversely the bearing of trend of bar extend, one end of the first corpus unguis 16.1 and the second corpus unguis 16.2 is respectively slidably in fixing guide-track groove 15.1 on the transverse bar.
See Fig. 5 ~ 7, wherein in a kind of implementation, second fixture 5.2 is the cuboid framework surrounded by the first transverse slat 5.2.1, starting stave 5.2.2, the second transverse slat 5.2.3 and the second riser 5.2.4, first fixed bar 6 and the second fixed bar 7 are arranged on the first transverse slat 5.2.1, and the 3rd cylinder 12 and fixed head 13 are mounted opposite above and below the second transverse slat 5.2.3.
Particularly, first transverse slat 5.2.1 and the second transverse slat 5.2.3 is parallel to each other, starting stave 5.2.2 and the second riser 5.2.4 is parallel to each other, mutually vertical between transverse slat and riser, arranging the second fixture 5.2 is cuboid frame structure, make the second fixture 5.2 can save material while having good bearing capacity, 3rd cylinder 12 and the first fixed bar 6 are separately positioned on two square plates at maintenance interval, make state converter while the duty of conversion the 3rd cylinder 12, the normal work of the 3rd cylinder 12 can not be affected again.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the state converter for manipulator, it is characterized in that, comprise the first fixture (1) being provided with two through holes, the stopping means (4) being arranged on the first cylinder (2) above the first fixture (1), the second cylinder (3) and being arranged on below the first fixture (1), and the second fixture (5.1); Described stopping means (4) is positioned between described first cylinder (2) and described second cylinder (3) and is positioned at again between described first fixture (1) and described second fixture (5.1) simultaneously; Described second fixture (5.1) is provided with the first fixed bar (6) and the second fixed bar (7), use at least one ball pivot to be connected described first fixed bar (6) with the first piston bar (8) of the first cylinder (2) through one of them through hole, described second fixed bar (7) with second piston rod (9) of the second cylinder (3) through another through hole, use at least one ball pivot to be connected;
When described first piston bar (8) and described second piston rod (9) stretch out completely, gap is left between described stopping means (4) and described second fixture (5.1), when described first piston bar (8) and described second piston rod (9) are retracted completely, described stopping means (4) props up described second fixture (5.1).
2. state converter according to claim 1, it is characterized in that, also comprise head rod (10) and the second connecting rod (11), the two ends of described head rod (10) use ball pivot to be connected respectively with between one end of described first piston bar (8) and one end of described first fixed bar (6), and the two ends of described second connecting rod (11) use ball pivot to be connected respectively with between one end of described second piston rod (9) and one end of described second fixed bar (7).
3. state converter according to claim 1, it is characterized in that, the axis of described first piston bar (8) and the axis keeping parallelism of described second piston rod (9), and described first piston bar (8) and described second piston rod (9) respectively and described stopping means (4) keep identical interval.
4. state converter according to claim 3, is characterized in that, described stopping means (4) is cylindrical straight-bar.
5. state converter according to claim 1, it is characterized in that, when described first piston bar (8) and described second piston rod (9) are in when stretching out state completely, between described stopping means (4) and described second fixture (5.1), keep the spacing of 10 ~ 50mm.
6. state converter according to claim 1, is characterized in that, described first fixture (1) and described second fixture (5.1) are rectangular slab.
7. a manipulator, it is characterized in that, comprise state converter as claimed in any one of claims 1 to 5, wherein, also comprise the 3rd cylinder (12) be arranged on above described second fixture (5.2) and the fixed head (13) be arranged on below described second fixture (5.2), the guide rail bracket of the band guide-track groove (15.1) be connected with the movable end of the 3rd piston rod (14) of described 3rd cylinder (12), and gripper (16); Described gripper (16) comprises the first corpus unguis (16.1) and the second corpus unguis (16.2) that are positioned at described guide rail bracket (15) left and right sides, the middle part of described first corpus unguis (16.1) and described second corpus unguis (16.2) is hingedly fixed on described fixed head (13), and one end of described first corpus unguis (16.1) and one end of described second corpus unguis (16.2) are all slidably mounted in described guide-track groove (15.1).
8. manipulator according to claim 7, it is characterized in that, described second fixture (5.2) is the cuboid framework surrounded by the first transverse slat (5.2.1), starting stave (5.2.2), the second transverse slat (5.2.3) and the second riser (5.2.4), described first fixed bar (6) and described second fixed bar (7) are arranged on described first transverse slat (5.2.1), and described 3rd cylinder (12) and described fixed head (13) are mounted opposite above and below described second transverse slat (5.2.3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510316822.5A CN104972454B (en) | 2015-06-10 | 2015-06-10 | State converter for mechanical hand and the mechanical hand comprising this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510316822.5A CN104972454B (en) | 2015-06-10 | 2015-06-10 | State converter for mechanical hand and the mechanical hand comprising this device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104972454A true CN104972454A (en) | 2015-10-14 |
| CN104972454B CN104972454B (en) | 2017-03-01 |
Family
ID=54269689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510316822.5A Active CN104972454B (en) | 2015-06-10 | 2015-06-10 | State converter for mechanical hand and the mechanical hand comprising this device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104972454B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105458340A (en) * | 2015-12-11 | 2016-04-06 | 天津理工大学 | Locating and punching machine for measuring residual stress of nonmagnetic metal plate |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
| CN106743597A (en) * | 2017-03-23 | 2017-05-31 | 四川协诚智达科技有限公司 | A kind of flexible automatic centering machinery hand |
| CN114249430A (en) * | 2021-12-21 | 2022-03-29 | 苏州仁和园林股份有限公司 | Water-flow-resistant pneumatic oxygen supply type ecological floating island |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1495122A1 (en) * | 1987-10-05 | 1989-07-23 | Научно-производственное объединение по механизации, роботизации труда и совершенствованию ремонтного обеспечения на предприятиях черной металлургии "Черметмеханизация" | Gripping device |
| CN201321288Y (en) * | 2008-12-10 | 2009-10-07 | 河北省首钢迁安钢铁有限责任公司 | Dustless material-receiving device for baiting port to face material-receiving ports |
| CN201399697Y (en) * | 2009-04-29 | 2010-02-10 | 成都星维科自动化设备有限公司 | Tool changing manipulator used for printed wiring board (PWB) drilling machine |
| CN102718079A (en) * | 2012-07-06 | 2012-10-10 | 河北联合大学 | Movable sealing mechanism |
| CN102729245A (en) * | 2012-07-18 | 2012-10-17 | 奇瑞汽车股份有限公司 | Manipulator |
| CN203956918U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | For the robotic arm grasping mechanism of visual identity grabbing device |
-
2015
- 2015-06-10 CN CN201510316822.5A patent/CN104972454B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1495122A1 (en) * | 1987-10-05 | 1989-07-23 | Научно-производственное объединение по механизации, роботизации труда и совершенствованию ремонтного обеспечения на предприятиях черной металлургии "Черметмеханизация" | Gripping device |
| CN201321288Y (en) * | 2008-12-10 | 2009-10-07 | 河北省首钢迁安钢铁有限责任公司 | Dustless material-receiving device for baiting port to face material-receiving ports |
| CN201399697Y (en) * | 2009-04-29 | 2010-02-10 | 成都星维科自动化设备有限公司 | Tool changing manipulator used for printed wiring board (PWB) drilling machine |
| CN102718079A (en) * | 2012-07-06 | 2012-10-10 | 河北联合大学 | Movable sealing mechanism |
| CN102729245A (en) * | 2012-07-18 | 2012-10-17 | 奇瑞汽车股份有限公司 | Manipulator |
| CN203956918U (en) * | 2014-06-27 | 2014-11-26 | 上海朗煜电子科技有限公司 | For the robotic arm grasping mechanism of visual identity grabbing device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105458340A (en) * | 2015-12-11 | 2016-04-06 | 天津理工大学 | Locating and punching machine for measuring residual stress of nonmagnetic metal plate |
| CN105458340B (en) * | 2015-12-11 | 2018-03-13 | 天津理工大学 | A kind of localization punch for being used to measure non-magnetic metal plate residual stress |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
| CN105729460B (en) * | 2016-04-20 | 2017-11-28 | 机器时代(北京)科技有限公司 | Flexible gearing and adjustable spring and energy storage component and lock uint and robot |
| CN106743597A (en) * | 2017-03-23 | 2017-05-31 | 四川协诚智达科技有限公司 | A kind of flexible automatic centering machinery hand |
| CN114249430A (en) * | 2021-12-21 | 2022-03-29 | 苏州仁和园林股份有限公司 | Water-flow-resistant pneumatic oxygen supply type ecological floating island |
| CN114249430B (en) * | 2021-12-21 | 2024-05-17 | 苏州仁和园林股份有限公司 | Water-flow-resistant pneumatic oxygen supply type ecological floating island |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104972454B (en) | 2017-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104972454A (en) | State conversion device used for manipulator and manipulator comprising state conversion device | |
| CN206308799U (en) | One kind is used for the telescopic steel construction cable-stayed support of building | |
| CN205660720U (en) | Portable transfer robot | |
| CN101844350A (en) | Three degree of freedom parallel robot mechanism | |
| CN102730548A (en) | Heavy manipulator | |
| CN204235550U (en) | A kind of three grab clamping manipulator mechanism | |
| CN103753520A (en) | High-precision heavy-load hexapod parallel robot | |
| CN201736224U (en) | Three-freedom parallel robotic mechanism | |
| CN203726483U (en) | Pneumatic carrying mechanical arm | |
| CN209903240U (en) | Bidirectional integrated cylinder | |
| CN204248889U (en) | A kind of three-branch chain six-freedom degree parallel mechanism | |
| CN107511817A (en) | A kind of two turn one is moved asymmetric coupling mechanism | |
| CN204657203U (en) | Rotary left and right bending machine | |
| CN104227710A (en) | Spatial three-degree-of-freedom parallel mechanism | |
| CN110000755A (en) | Parallel institution with a two mobile spirals and a two mobile rotational motion modes | |
| CN203579652U (en) | Manipulator set with adjustable manipulator spacing and automatic placement machine with same | |
| CN209579602U (en) | A kind of industrial robot clamper | |
| CN205254982U (en) | Snatch profile body's promotion formula manipulator device | |
| CN204414133U (en) | Four stations unload tire mechanical arm | |
| CN210081040U (en) | Special flexible welding platform for explosion-proof cabinet | |
| CN208614807U (en) | A kind of more fingerstall tube kind part picking manipulator pawls of packaged type | |
| CN208759565U (en) | A kind of suspension type crusing robot push-botton operation manipulator and robot | |
| CN208557486U (en) | A kind of production line robot | |
| CN108516026B (en) | A kind of extended position robot | |
| CN207682413U (en) | A kind of three coordinate machine device people Z axis telescopic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |