CN106002985A - Carrying and stacking servo mechanical arm - Google Patents
Carrying and stacking servo mechanical arm Download PDFInfo
- Publication number
- CN106002985A CN106002985A CN201610596869.6A CN201610596869A CN106002985A CN 106002985 A CN106002985 A CN 106002985A CN 201610596869 A CN201610596869 A CN 201610596869A CN 106002985 A CN106002985 A CN 106002985A
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- Prior art keywords
- arm
- transmission
- mechanical
- rotation
- mechanical arm
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a carrying and stacking servo mechanical arm which comprises a control system cabinet, a rotation cabinet, a mechanical arm device, a mechanical grabber device and a transmission device. The control system cabinet is provided with a rotation table, the rotation cabinet is arranged on the rotation table, the mechanical arm device is arranged on the rotation cabinet, the mechanical grabber device is arranged on the mechanical arm device, and the transmission device comprises a first transmission shaft, a second transmission shaft, a transmission pair and transmission ropes. According to the carrying and stacking servo mechanical arm, the mechanical arm device and the mechanical grabber device are controlled by the rotation table to achieve the rotation freedom degree in the horizontal direction, the mechanical arm device achieves the freedom degree in the vertical direction through the transmission device, the mechanical grabber device is arranged on the mechanical arm device and has the rotation freedom degree in the horizontal direction, therefore, the whole device can do rotating motion or moving motion or combined motion in the horizontal direction and in the vertical direction to complete specified actions, the position and posture of a grabbed object are changed, the driving relation is simple, transmission is stable, the accuracy is high, the structure is simple, and the application and popularization value is achieved.
Description
Technical field
The present invention relates to robot palletizer technical field, especially a kind of carrying piling servo
Mechanical arm.
Background technology
Mechanical hand refers to some holding function of apish hands and arm, in order to by fixing
Program captures, carries object or the automatic pilot of operation instrument.It can replace people's
Heavy labor with realize produce mechanization and automatization, can operate under hostile environment with
Protection personal safety, thus it is widely used in machine-building, transport, light industry and electronics
In field.
Mechanical hand is mainly made up of hand, motion and control system three parts.Hands
Portion be used to grasp workpiece parts, according to by grasping the shape of object, size, weight,
Material and job requirements and have various structures form, such as clamp-type, holding type and absorbent-type
Deng.Motion, makes hand complete various rotation, movement or compound motion and realizes rule
Fixed action, changes and is grasped position and the posture of object.The lifting of motion, stretch
The degree of freedom of the self-movement modes, referred to as mechanical hand such as contracting, rotation.Control system is logical
Cross the control of degree of freedom each to mechanical hand, complete specific action.
The effect of palletizing mechanical arm mainly carries out the feeding, discharge of product.In order to alleviate behaviour
Make the burden of personnel, or replacement operator carry out dangerous operation.Pass through palletizing mechanical
Hands substitutes the operation of operator, reaches to improve operation effectiveness and the mesh of protection operator
So that palletizing mechanical arm is applied widely in automated production occasion.
Existing palletizing mechanical arm comprises numerous driving means, and for four axle fortune can be done
For dynamic palletizing mechanical arm, owing to its each driving means arranges unreasonable, therefore there is structure
The defect that complexity, bumpy motion and kinematic accuracy are low, thus limit it and be applied to technique
Require high occasion.
Therefore, need that a kind of simple in construction, stable movement and kinematic accuracy are high now badly four
Axle palletizing mechanical arm overcomes above-mentioned defect.
Summary of the invention
It is an object of the invention to provide a kind of carrying piling servounit arm, to solve
Piling servounit arm structure complexity, bumpy motion is carried present in prior art
And the problem that kinematic accuracy is low.
To achieve these goals, the present invention is by the following technical solutions:
A kind of carrying piling servounit arm that the present invention provides, including control system cabinet,
Rotate cabinet, robot arm device, mechanical gripper device and actuating device；Described control system
Cashier's office in a shop being provided with turntable, described rotation cabinet is arranged on turntable, and described robot arm device is arranged
Rotating cashier's office in a shop, described mechanical gripper device is arranged on robot arm device, described transmission
Device includes the first power transmission shaft, second driving shaft, transmission and transmission rope.
Further, described first power transmission shaft is through described turntable and moving in control system cabinet
Power element connects.This technical scheme have the technical effect that the first power transmission shaft accepts and passes
Pass the power of dynamical element in control system cabinet, drive robot arm device and mechanical gripper
Device makes corresponding action, captures, moves and place manipulating object, driving relationship letter
Single, decrease the loss of power, simple in construction, controllability is strong.
Further, described first power transmission shaft is provided with associated drive block, described biography
Motion block is slidably arranged in described rotation cashier's office in a shop simultaneously.Having the technical effect that of this technical scheme
Drive block accepts the power of the first power transmission shaft, cashier's office in a shop slides up and down rotating, by power unit
The rotary motion of part is converted to linear motion, simple in construction, and transmission efficiency is high.
Further, described second driving shaft is arranged on described drive block.This technical scheme
Have the technical effect that second driving shaft with drive block move up and down, drive mechanical arm dress
Put in the vertical direction motion work, the driving simple in construction of robot arm device, easily control
System.
Further, described transmission is triangle transmission, and one angle is arranged on described
On robot arm device.The knot having the technical effect that triangle transmission of this technical scheme
Structure is simple, stable, simplifies the structure of drive system, and power loss is few, transmission effect
Good.
Further, described transmission rope includes the first transmission rope and the second transmission rope, described
One end of one transmission rope is connected with the dynamical element in control system cabinet, the other end and transmission
The secondary one in another two angle connects, one end of described second transmission rope and transmission
Another one in another two angle connects, the other end of the second transmission rope and robot arm device
End connects.This technical scheme have the technical effect that the first transmission rope, transmission,
Second transmission rope is sequentially connected with, and the power of dynamical element is delivered to the tail of robot arm device
End, controls the opening and closing movement that robot arm device makes the arm of similar people, mobile operation pair
As, drive mechanism is simple, flexible movements.
Further, described robot arm device includes being sequentially connected with the first mechanical arm, second
Mechanical arm, tail arm, and support arm, described first mechanical arm is arranged on described rotation cabinet
On, one end of described support arm is arranged on rotation cashier's office in a shop, and the other end is arranged on described second
On mechanical arm.This technical scheme have the technical effect that the first mechanical arm, second machinery
Arm, tail arm are sequentially connected with, the structure of the arm of simulation people, and motility is strong, support arm pair
First mechanical arm, the second mechanical arm, the attachment structure of tail arm play a supportive role, the most also
Coordination therewith, completes the action specified, whole robot arm device Stability Analysis of Structures, letter
Single, harmony is strong.
Further, described transmission is arranged on described support arm.The skill of this technical scheme
Art effect is: the position opposed support structure of transmission keeps constant, synchronizes with support arm
Mobile, do not produce unnecessary degree of freedom, be stably connected the first transmission rope and second and pass
Dynamic search, stable drive, reliable.
Further, one end of described second transmission rope is arranged on described transmission, another
End is arranged in tail arm.This technical scheme have the technical effect that second transmission rope connect
In tail arm so that actuating device can link up and control the action of whole robot arm device,
Simple in construction, power loss is few.
Further, described mechanical gripper device includes rotating disk, suspension bracket and handgrip, described turn
Dish is arranged in described tail arm, and described suspension bracket is arranged on rotating disk, and described handgrip is arranged on
On suspension bracket.This technical scheme have the technical effect that control system control turntable rotation,
Mechanical gripper device is made to obtain the rotary freedom of horizontal direction, it is possible to adjust handgrip and capture
The angle of object, flexible movements, motion is accurately.
A kind of carrying piling servounit arm that the present invention provides, by being arranged on control
Turning table control robot arm device and mechanical gripper device on system cabinet obtain horizontal direction
Rotary freedom, the first power transmission shaft and second driving shaft two axle coordinate jointly, and transmission
The secondary transmission with transmission rope, makes robot arm device obtain the degree of freedom of vertical direction so that it is
Can action in vertically side, mechanical gripper device is arranged on robot arm device, possesses
The rotary freedom of horizontal direction, whole device can be made in the horizontal and vertical directions and turning
Dynamic, mobile or compound motion completes the action specified, and changes by the position of grasping object
And posture, whole device driving relationship is simple, and transmission efficiency is high, stable drive, action
Flexibly, accuracy is high, simple in construction, stable, solves existing carrying piling servo
The problem that mechanical arm structure complexity, bumpy motion and kinematic accuracy are low, is adapted for
Popularization and application.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technology of the prior art
Scheme, below by detailed description of the invention or description of the prior art required use attached
Figure is briefly described, it should be apparent that, the accompanying drawing in describing below is the one of the present invention
A little embodiments, for those of ordinary skill in the art, are not paying creative labor
On the premise of Dong, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
A kind of piling servounit arm carried that Fig. 1 provides for the embodiment of the present invention one
Structural representation；
A kind of piling servounit arm carried that Fig. 2 provides for the embodiment of the present invention one
Structural representation.
Reference:
1-control system cabinet；2-rotates cabinet；3-robot arm device；
4-mechanical gripper device；5-actuating device；6-turntable；
31-the first mechanical arm；32-the second mechanical arm；33-tail arm；
34-support arm；41-rotating disk；42-suspension bracket；
43-handgrip；51-the first power transmission shaft；52-second driving shaft；
53-transmission；54-drive block；55-the first transmission rope；
56-the second transmission rope.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole realities
Execute example.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under creative work premise, broadly falls into present invention protection
Scope.
In describing the invention, it should be noted that term " " center ", " on ", D score,
The orientation of the instruction such as "left", "right", " vertically ", " level ", " interior ", " outward " or position
Relation of putting, for based on orientation shown in the drawings or position relationship, is for only for ease of description originally
Invention and simplification describe rather than indicate or imply that the device of indication or element must have
Specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
Bright restriction.Additionally, term " first ", " second ", " the 3rd " are only used for describing mesh
, and it is not intended that indicate or hint relative importance.
In describing the invention, it should be noted that unless otherwise clear and definite regulation and
Limiting, term " is installed ", " being connected ", " connection " should be interpreted broadly, such as, and can
To be fixing connection, it is also possible to be to removably connect, or be integrally connected；It can be machine
Tool connects, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to by middle matchmaker
Jie is indirectly connected to, and can be the connection of two element internals.Common skill for this area
For art personnel, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
A kind of piling servounit arm carried that Fig. 1 provides for the embodiment of the present invention one
Structural representation；A kind of carrying piling servo that Fig. 2 provides for the embodiment of the present invention one
The structural representation of tool arm.
Embodiment one:
In the alternative of the present embodiment, as shown in Figure 1 and Figure 2, the present embodiment provides
A kind of carrying piling servounit arm, including control system cabinet 1, rotate cabinet 2, machine
Mechanical arm device 3, mechanical gripper device 4 and actuating device 5；Control system cabinet 1 is provided with
Turntable 6, rotates cabinet 2 and is arranged on turntable 6, and robot arm device 3 is arranged on rotation cabinet 2
On, mechanical gripper device 4 is arranged on robot arm device 3, and actuating device 5 includes
One power transmission shaft 51, second driving shaft 52, transmission 53 and transmission rope.Current piling
Mechanical hand, each driving device structure is complicated, and robust motion is poor and kinematic accuracy is not enough,
It is difficult to apply in the high occasion of technological requirement.In the present embodiment, control system cabinet 1 is controlled
Turntable 6 processed rotates, and rotates so that rotating cabinet 2, robot arm device 3 and mechanical gripper dress
Putting 4 thus obtain the rotary freedom of horizontal direction, actuating device 5 accepts control system
The power of the dynamical element in cabinet 1, makes driving robot arm device 3 obtain vertical direction
Translation freedoms, control system controls mechanical gripper device 4 and revolves on robot arm device 3
Turn, it is thus achieved that the rotary freedom of horizontal direction, whole device can be in horizontally and vertically direction
On make rotation, mobile or compound motion completes the action specified, change by grasping thing
The position of part and attitude；The Main Function of control system cabinet 1 is to support robot arm device 3
With mechanical gripper device 4, exporting power and control whole device operation, prior art is permissible
Reach.
In the alternative of the present embodiment, further, the first power transmission shaft 51 is through turning
Platform 6 is connected with the dynamical element in control system cabinet 1.In the present embodiment, first pass
Moving axis 51 accepts power and drives robot arm device 3 and mechanical gripper device 4 to make accordingly
Action, capture, mobile and place manipulating object.
In the alternative of the present embodiment, further, the first power transmission shaft 51 is provided with
Associated drive block 54, drive block 54 is slidably arranged on rotation cabinet 2 simultaneously.?
In the present embodiment, the first power transmission shaft 51 is leading screw, and drive block 54 is nut, drive block
54 are movably arranged on rotation cabinet 2, are converted to by the rotational power of the first power transmission shaft 51 certainly
The linear motion power of body, slides up and down on cabinet 2 rotating.
In the alternative of the present embodiment, further, second driving shaft 52 is arranged on
On drive block 54.In the present embodiment, second driving shaft 52 is transported with drive block about 54
Dynamic, drive robot arm device 3 in the vertical direction motion work.
In the alternative of the present embodiment, further, transmission 53 passes for triangle
Dynamic secondary 53, one angle is arranged on robot arm device 3.In the present embodiment, triangle
Shape transmission 53 is prior art, can buy in market.
In the alternative of the present embodiment, further, transmission rope includes the first transmission
In rope 55 and the second transmission rope 56, one end of the first transmission rope 55 and control system cabinet 1
Dynamical element connect, the other end is connected with the one in the another two angle of transmission 53,
One end of second transmission rope 56 is connected with the another one in the another two angle of transmission 53,
The other end of the second transmission rope 56 is connected with the end of robot arm device 3.At the present embodiment
In, the first transmission rope 55, transmission the 53, second transmission rope 56 are sequentially connected with, coherent
The power of dynamical element is delivered on robot arm device 3 by ground, controls robot arm device 3
Make the action of the arm of similar people, mobile manipulating object.
In the alternative of the present embodiment, further, robot arm device 3 includes depending on
First mechanical arm the 31, second mechanical arm 32 of secondary connection, tail arm 33, and support arm
34, the first mechanical arm 31 is arranged on rotation cabinet 2, and one end of support arm 34 is arranged on
Rotating on cabinet 2, the other end is arranged on the second mechanical arm 32.In the present embodiment,
One mechanical arm the 31, second mechanical arm 32, tail arm 33 are sequentially connected with, the arm of simulation people
Structure, the attachment structure of this three is played a supportive role by support arm 34, simultaneously the most therewith
Coordination, completes the action specified.
In the alternative of the present embodiment, further, transmission 53 is arranged on support
On arm 34.In the present embodiment, the position opposed support structure 34 of transmission 53 keeps not
Become, with support arm 34 synchronizing moving, the first transmission rope 55 is held in the mouth with the second transmission rope 56
Pick up.
In the alternative of the present embodiment, further, one end of the second transmission rope 56
Being arranged on transmission 53, the other end is arranged in tail arm 33.In the present embodiment,
Second transmission rope 56 is connected in tail arm 33 so that power is delivered to whole mechanical arm dress
Put on 3.
In the alternative of the present embodiment, further, mechanical gripper device 4 includes
Rotating disk 41, suspension bracket 42 and handgrip 43, rotating disk 41 is arranged in tail arm 33, suspension bracket 42
Being arranged on rotating disk 41, handgrip 43 is arranged on suspension bracket 42.In the present embodiment, control
System processed controls rotating disk 41 and rotates, and makes mechanical gripper device 4 obtain the rotation of horizontal direction
Degree of freedom, controls handgrip 43 simultaneously and captures target piece.
Embodiment two:
In the alternative of the present embodiment, as shown in Figure 1 and Figure 2, the present embodiment provides
A kind of carrying piling servounit arm, including control system cabinet 1, rotate cabinet 2, machine
Mechanical arm device 3, mechanical gripper device 4 and actuating device 5；Control system cabinet 1 is provided with
Turntable 6, rotates cabinet 2 and is arranged on turntable 6, and robot arm device 3 is arranged on rotation cabinet 2
On, mechanical gripper device 4 is arranged on robot arm device 3, and actuating device 5 includes
One power transmission shaft 51, second driving shaft 52 and transmission rope.In the present embodiment, whole device
Can make rotation in the horizontal and vertical directions, mobile or compound motion completes to specify
Action, changes and is grasped position and the attitude of object.
Being different from embodiment one, actuating device 5 includes first power transmission shaft the 51, second transmission
Axle 52 and transmission rope, directly arrange fixed pulley on robot arm device 3, and transmission rope passes through
Fixed pulley, transfers power on robot arm device 3.
It is last it is noted that various embodiments above is only in order to illustrate the technical side of the present invention
Case, is not intended to limit；Although the present invention having been carried out in detail with reference to foregoing embodiments
Explanation, it will be understood by those within the art that: its still can to aforementioned respectively
Technical scheme described in embodiment is modified, or to the most some or all of skill
Art feature carries out equivalent；And these amendments or replacement, do not make relevant art side
The essence of case departs from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a carrying piling servounit arm, it is characterised in that include control system
Cabinet, rotation cabinet, robot arm device, mechanical gripper device and actuating device；Described control
System cabinet is provided with turntable, and described rotation cabinet is arranged on turntable, described robot arm device
Being arranged on rotation cashier's office in a shop, described mechanical gripper device is arranged on robot arm device, described
Actuating device includes the first power transmission shaft, second driving shaft, transmission and transmission rope.
Carrying piling servounit arm the most according to claim 1, its feature exists
In, described first power transmission shaft is through described turntable with the dynamical element in control system cabinet even
Connect.
Carrying piling servounit arm the most according to claim 2, its feature exists
In, described first power transmission shaft is provided with associated drive block, and described drive block is simultaneously
It is slidably arranged in described rotation cashier's office in a shop.
Carrying piling servounit arm the most according to claim 3, its feature exists
In, described second driving shaft is arranged on described drive block.
Carrying piling servounit arm the most according to claim 1, its feature exists
In, described transmission is triangle transmission, and one angle is arranged on described mechanical arm dress
Put.
Carrying piling servounit arm the most according to claim 5, its feature exists
In, described transmission rope includes the first transmission rope and the second transmission rope, described first transmission rope
One end be connected with the dynamical element in control system cabinet, another the two of the other end and transmission
One in individual angle connects, one end of described second transmission rope and the another two angle of transmission
In another one connect, the other end of the second transmission rope is connected with the end of robot arm device.
Carrying piling servounit arm the most according to claim 6, its feature exists
The first mechanical arm of including being sequentially connected with in, described robot arm device, the second mechanical arm,
Tail arm, and support arm, described first mechanical arm is arranged on described rotation cashier's office in a shop, described
One end of support arm is arranged on rotation cashier's office in a shop, and the other end is arranged on described second mechanical arm.
Carrying piling servounit arm the most according to claim 7, its feature exists
In, described transmission is arranged on described support arm.
Carrying piling servounit arm the most according to claim 8, its feature exists
In, one end of described second transmission rope is arranged on described transmission, and the other end is arranged on
In tail arm.
Carrying piling servounit arm the most according to claim 1, its feature
Being, described mechanical gripper device includes rotating disk, suspension bracket and handgrip, and described rotating disk is arranged
In described tail arm, described suspension bracket is arranged on rotating disk, and described handgrip is arranged on suspension bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610596869.6A CN106002985A (en) | 2016-07-26 | 2016-07-26 | Carrying and stacking servo mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610596869.6A CN106002985A (en) | 2016-07-26 | 2016-07-26 | Carrying and stacking servo mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106002985A true CN106002985A (en) | 2016-10-12 |
Family
ID=57113903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610596869.6A Pending CN106002985A (en) | 2016-07-26 | 2016-07-26 | Carrying and stacking servo mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106002985A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471204A (en) * | 2017-09-28 | 2017-12-15 | 葛晟宏 | Manipulator and mechanical arm assembly |
| CN107984490A (en) * | 2017-12-29 | 2018-05-04 | 苏州镒升机器人科技有限公司 | Vacuum cup machinery hand |
| CN110193869A (en) * | 2019-07-09 | 2019-09-03 | 邢珊珊 | A kind of wood processing machine of the pressing mechanism containing folding |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
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| CN203936917U (en) * | 2014-07-21 | 2014-11-12 | 大连创奇科技有限公司 | A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling |
| CN105459109A (en) * | 2016-01-11 | 2016-04-06 | 安徽工业大学 | Movable five-axis robot |
| CN205166932U (en) * | 2015-11-17 | 2016-04-20 | 广西职业技术学院 | Automatic pile up neatly machine people |
| CN205870524U (en) * | 2016-07-26 | 2017-01-11 | 青岛北洋天青数联智能股份有限公司 | Transport pile up neatly servo machine tool arm |
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| US4645408A (en) * | 1985-09-27 | 1987-02-24 | Mizuno Tekko Kabushiki Kaisha | Uncontrolled angular displacement compensating device for industrial robot |
| CN102091899A (en) * | 2010-12-22 | 2011-06-15 | 广西大学 | Simple spot-welding robot mechanism |
| CN103010764A (en) * | 2012-12-19 | 2013-04-03 | 广州市万世德包装机械有限公司 | Parallel rod stacker crane robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471204A (en) * | 2017-09-28 | 2017-12-15 | 葛晟宏 | Manipulator and mechanical arm assembly |
| CN107984490A (en) * | 2017-12-29 | 2018-05-04 | 苏州镒升机器人科技有限公司 | Vacuum cup machinery hand |
| CN107984490B (en) * | 2017-12-29 | 2023-12-22 | 苏州镒升机器人科技有限公司 | Vacuum chuck manipulator |
| CN110193869A (en) * | 2019-07-09 | 2019-09-03 | 邢珊珊 | A kind of wood processing machine of the pressing mechanism containing folding |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
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