CN106671071A - Brick moving robot - Google Patents
Brick moving robot Download PDFInfo
- Publication number
- CN106671071A CN106671071A CN201610748735.1A CN201610748735A CN106671071A CN 106671071 A CN106671071 A CN 106671071A CN 201610748735 A CN201610748735 A CN 201610748735A CN 106671071 A CN106671071 A CN 106671071A
- Authority
- CN
- China
- Prior art keywords
- arm
- forearm
- large arm
- motor
- drive mechanism
- 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
- 239000011449 brick Substances 0.000 title abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 91
- 230000000694 effects Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 abstract 3
- 239000012634 fragment Substances 0.000 description 9
- 102000008579 Transposases Human genes 0.000 description 1
- 108010020764 Transposases Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/123—Linear actuators
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a brick moving robot. The brick moving robot comprises a base (15), a motor B (14), a rotating shaft (13), a rotating base (16), a forearm drive mechanism, a big arm drive mechanism, an auxiliary rotating mechanism and a clamp mechanism, wherein the motor B and a speed reducer are fixed in the base (15); the speed reducer is arranged on one side of the motor B; a rotating shaft cover is arranged on the upper portion of the base; the speed reducer is fixedly connected with the rotating shaft in the rotating shaft cover; the rotating base is arranged on the upper portion of the rotating shaft cover; the rotating base is provided with the forearm drive mechanism and the big arm drive mechanism; the forearm drive mechanism and the big arm drive mechanism are connected through a rotary shaft A (27); the auxiliary rotating mechanism is arranged on the lower portion of one end of the forearm drive mechanism; and the auxiliary rotating mechanism is fixed to the clamp mechanism. The brick moving robot is simple in structure and convenient to use, the purpose that bricks are removed mechanically instead of manually is achieved, and safety is greatly improved.
Description
【Technical field】
The present invention relates to a kind of robot, more particularly, to a kind of Ban Zhuan robots.
【Background technology】
Known, the carrying of brick is most still using the method for a dead lift, by artificial lift to move to carrier or on supporting plate, this
The carrying of sample is not only time-consuming to take a lot of work, and is not only easily caused the damage of brick, and security is not high, consumes substantial amounts of manpower, production
Efficiency is also more low；It is therefore proposed that a kind of robot that can automatically remove brick, becomes telling substantially for those skilled in the art
Ask.
【The content of the invention】
In in order to overcome the shortcomings of background technology, the invention discloses a kind of Ban Zhuan robots, real purpose automatically removes the mesh of brick
's.
In order to realize the goal of the invention, the present invention is adopted the following technical scheme that：
A kind of Ban Zhuan robots, including it is base, motor B, rotary shaft, rotating seat, forearm drive mechanism, large arm drive mechanism, auxiliary
Rotating mechanism and clamping mechanism are helped, motor B and reductor are fixed with base, reductor is provided with the side of motor B, the bottom of at
The top of seat is provided with rotation outer shaft sleeve, and the reductor is fixedly connected with the rotary shaft in rotation outer shaft sleeve, in rotation outer shaft sleeve
Top be provided with rotating seat, forearm drive mechanism and large arm drive mechanism, the forearm driving machine are respectively equipped with rotating seat
Structure and large arm drive mechanism are connected by rotary shaft A, and in one end bottom of forearm drive mechanism assisted rotating mechanism is provided with, described
Assisted rotating mechanism is fixedly installed with clamping mechanism.
Described Ban Zhuan robots, the large arm drive mechanism include clamp, large arm motor, large arm actuating arm, large arm from
Swing arm, large arm, large arm slide block and large arm bearing, in the side of rotating seat clamp is provided with, and the large arm actuating arm is by large arm motor
Drive, one end of large arm actuating arm is fixedly connected with clamp, the other end of the large arm actuating arm is by large arm bearing and large arm
Slide block connects, and the large arm slide block is slidably arranged on the lateral surface of large arm, and one end of large arm is by rotating shaft and rotating seat activity
Connection, one end of large arm slave arm is flexibly connected by bearing with the extended surface of rotating seat, the other end of large arm slave arm, large arm
One end be flexibly connected with the connecting plate in rotary shaft A.
Described Ban Zhuan robots, the large arm actuating arm is electric pushrod.
Described Ban Zhuan robots, the forearm drive mechanism includes forearm motor, forearm actuating arm, forearm bearing, little
Arm slave arm, forearm and clamp, the forearm actuating arm is by forearm Motor drive, one end of forearm actuating arm and the upper end of clamp
It is flexibly connected, the lower end of clamp is fixedly installed on the two sides of large arm slide block, the other end of forearm actuating arm is by forearm
Seat is slidably arranged on the lateral surface of forearm, and one end of forearm slave arm is flexibly connected with the connecting plate in rotary shaft A, forearm
One end is flexibly connected with rotary shaft A, the other end of forearm is flexibly connected with rotary shaft B, the other end of forearm slave arm with rotate
Terminal pad on axle B is flexibly connected, and the terminal pad is connected with assisted rotating mechanism.
Described Ban Zhuan robots, the forearm actuating arm is electric pushrod.
Described Ban Zhuan robots, the connecting plate is set to triangle, is equipped with three apexes of connecting plate and props up
Point, three fulcrums are flexibly connected respectively with large arm slave arm, forearm slave arm, rotary shaft A.
Described Ban Zhuan robots, the assisted rotating mechanism includes motor A, rotate gear and connecting shaft, the rotation
Gear is arranged on the side of terminal pad, and the rotate gear is fixedly connected with the reductor of bottom, described reductor and motor A
It is fixedly connected, in the side of rotate gear connecting shaft is fixed with, the connecting shaft is fixedly connected with clamping mechanism.
Described Ban Zhuan robots, the clamping mechanism includes gripper, nipper A, nipper B, cylinder block and cylinder, even
One end of spindle is provided with gripper, one end of gripper be interval with activity setting nipper A and nipper B, the nipper A and
The top of nipper B is connected by the connecting plate of S types, and in the bottom of gripper the cylinder block of fixed cylinder is provided with, the cylinder
Piston rod is fixedly connected with the bottom of nipper B.
Described Ban Zhuan robots, are provided with two fulcrums in terminal pad, two fulcrums respectively with rotary shaft B, forearm from
Swing arm is flexibly connected.
As a result of above-mentioned technical proposal, the present invention has the advantages that：
1st, Ban Zhuan robots of the present invention, by arranging the rotary shaft rotation that motor B is rotated in outer shaft sleeve, so that
Rotating seat drives large arm drive mechanism and forearm drive mechanism to swing on a large scale in the horizontal direction, makes clamping mechanism near fragment of brick
Afterwards, the small range adjustment of assisted rotating mechanism angle in the horizontal direction is adjusted, clamping mechanism has been effectively ensured quickly and smoothly
Clamping fragment of brick；
2nd, the present invention is by large arm actuating arm, forearm actuating arm by being set to electric pushrod, by electric pushrod by the rotation of motor
Motion is converted to the linear motion of electric pushrod, then by electric pushrod promotes large arm and forearm respectively, completes large arm and forearm
Stretch out or bounce back, improve efficiency, and instead of conventional craft and remove brickwork work, effectively save labour；The present invention
Simple structure, it is easy to use, realize machine and remove brick and replace the manual purpose for removing brick, considerably increase security performance.
【Description of the drawings】
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the attachment structure schematic diagram of assisted rotating mechanism of the present invention and clamping mechanism；
In figure：1st, forearm motor；2nd, forearm actuating arm；3rd, connecting plate；4th, forearm bearing；5th, forearm slave arm；6th, gripper；7、
Nipper A；8th, fragment of brick；9th, nipper B；10th, cylinder block；11st, cylinder；12nd, motor A；13rd, outer shaft sleeve is rotated；14th, motor B；15th, bottom
Seat；16th, rotating seat；17th, clamp；18th, large arm motor；19th, large arm actuating arm；20th, bearing；21st, large arm slave arm；22nd, large arm；
23rd, large arm slide block；24th, large arm bearing；25th, forearm；26th, clamp；27th, rotary shaft A；28th, rotary shaft B；29th, rotate gear；30、
Terminal pad；31st, connecting shaft.
【Specific embodiment】
Explanation that can be detailed by the following examples is of the invention, and the open purpose of the present invention is intended to protect in the scope of the invention
All technological improvements.
Ban Zhuan robots with reference to described in accompanying drawing 1-2, including base 15, motor B14, rotary shaft 13, rotating seat 16, forearm
Drive mechanism, large arm drive mechanism, assisted rotating mechanism and clamping mechanism, in base 15 motor B14 and reductor are fixed with,
Reductor is provided with the side of motor B14, rotation outer shaft sleeve 13 is provided with the top of base 15, outside the reductor and rotary shaft
Rotary shaft in set 13 is fixedly connected, and on the top of rotation outer shaft sleeve 13 rotating seat 16 is provided with, and is respectively equipped with rotating seat 16
Forearm drive mechanism and large arm drive mechanism, the forearm drive mechanism and large arm drive mechanism are connected by rotary shaft A27,
One end bottom of forearm drive mechanism is provided with assisted rotating mechanism, and the assisted rotating mechanism is fixedly installed with clamping mechanism.
Described Ban Zhuan robots, the large arm drive mechanism include clamp 17, large arm motor 18, large arm actuating arm 19,
Large arm slave arm 21, large arm 22, large arm slide block 23 and large arm bearing 24, in the side of rotating seat 16 clamp 17 is provided with, described big
Arm actuating arm 19 is driven by large arm motor 18, and one end of large arm actuating arm 19 is fixedly connected with clamp 17, the large arm actuating arm
19 other end is connected by large arm bearing 24 with large arm slide block 23, and the large arm slide block 23 is slidably arranged in the outside of large arm 22
On face, one end of large arm 22 is flexibly connected by rotating shaft with rotating seat 16, and one end of large arm slave arm 21 is by bearing 20 and rotation
The extended surface of transposase 11 6 is flexibly connected, the other end of large arm slave arm 21, one end of large arm 22 with rotary shaft A27 on connection
Plate 3 is flexibly connected.
Described Ban Zhuan robots, the large arm actuating arm 19 is electric pushrod.
Described Ban Zhuan robots, the forearm drive mechanism include forearm motor 1, forearm actuating arm 2, forearm bearing 4,
Forearm slave arm 5, forearm 25 and clamp 26, the forearm actuating arm 2 is driven by forearm motor 1, one end of forearm actuating arm 2 with
The upper end of clamp 26 is flexibly connected, and the lower end of clamp 26 is fixedly installed on the two sides of large arm slide block 23, forearm actuating arm 2
The other end is slidably arranged on the lateral surface of forearm 25 by forearm bearing 4, on one end of forearm slave arm 5 and rotary shaft A27
Connecting plate 3 be flexibly connected, one end of forearm 25 is flexibly connected with rotary shaft A27, and the other end of forearm 25 is lived with rotary shaft B28
Dynamic connection, the other end of forearm slave arm 5 are flexibly connected with the terminal pad 30 in rotary shaft B28, the terminal pad 30 with aid in
Rotating mechanism connects.
Described Ban Zhuan robots, the forearm actuating arm 2 is electric pushrod.
Described Ban Zhuan robots, the connecting plate 3 is set to triangle, is equipped with three apexes of connecting plate 3
Fulcrum, three fulcrums are flexibly connected respectively with large arm slave arm 21, forearm slave arm 5, rotary shaft A27.
Described Ban Zhuan robots, the assisted rotating mechanism includes motor A12, rotate gear 29 and connecting shaft 31, institute
The side that rotate gear 29 is arranged on terminal pad 30 is stated, the rotate gear 29 is fixedly connected with the reductor of bottom, described
Reductor is fixedly connected with motor A12, and in the side of rotate gear 29 connecting shaft 31, the connecting shaft 31 and clamp machine are fixed with
Structure is fixedly connected.
Described Ban Zhuan robots, the clamping mechanism includes gripper 6, nipper A7, nipper B9, cylinder block 10 and cylinder
11, gripper 6 is provided with one end of connecting shaft 31, it is interval with the nipper A7 and nipper of activity setting in one end of gripper 6
The top of B9, the nipper A7 and nipper B9 is connected by the connecting plate of S types, and in the bottom of gripper 6 fixed cylinder 11 is provided with
Cylinder block 10, the piston rod of the cylinder 11 is fixedly connected with the bottom of nipper B9.
Described Ban Zhuan robots, are provided with two fulcrums in terminal pad 30, two fulcrums respectively with rotary shaft B28, little
Arm slave arm 5 is flexibly connected.
Implement Ban Zhuan robots of the present invention, when in use, open the large arm actuating arm 19 i.e. large arm of electric pushrod
Motor 18, stretches out large arm actuating arm 19, and the large arm slide block 23 of the one end of large arm actuating arm 19 slides on the lateral surface of large arm 22,
Make the action of clamp 26；Forearm motor 1 is opened, forearm actuating arm 2 is stretched out, forearm actuating arm 2 is sliding on the lateral surface of forearm 25
It is dynamic, so as to drive forearm 25, forearm slave arm 5, the action of large arm slave arm 21, forearm 25 is stretched out to the direction of gripper 6, make
Gripper 6 is put in brickmaking machine, and forearm 25 is connected by rotary shaft B28 of the side of terminal pad 30, is rotated by motor B14
Rotary shaft rotation in outer shaft sleeve 13, so that rotating seat 16 drives large arm drive mechanism and forearm drive mechanism in the horizontal direction
Swing on a large scale, hunting range is 0-360 degree, the rotate gear 29 arranged in terminal pad 30 is by motor A12 and deceleration
Machine drives, and makes rotate gear 29 drive the regulation rotational angle of the small range in the horizontal direction of connecting shaft 31, and rotational angle is 0-90
Degree, nipper B9, the nipper A7 for making the end of gripper 6 is directed at fragment of brick 8, the action of cylinder 11 of the bottom of gripper 6, the piston of cylinder 11
Bar stretches out and holds out against nipper B9, makes nipper B9, nipper A7 block the two sides of fragment of brick 8, and adjusts the driving of large arm actuating arm 19, forearm
Arm 2, makes large arm actuating arm 19, forearm actuating arm 2 retract, and fragment of brick 8 is taken out from brickmaking machine, by nipper B9, nipper A7 alignment
The transport vehicle of fragment of brick 8, fragment of brick 8 is put into the position for needing to prevent, and adjusts cylinder 11, unclamps nipper B9 and nipper A7, puts brick well
Block 8, and move horizontally nipper B9 and nipper A7 and avoid fragment of brick 8, retraction large arm actuating arm 19, forearm actuating arm 2 returns to start bit
Put.
Part not in the detailed description of the invention is prior art.
The embodiment selected herein for the goal of the invention of the open present invention, is presently considered to be suitable, but,
It is to be understood that it is contemplated that belonging to this design and all changes and the improvement of the embodiment in invention scope including all.
Claims (9)
1. a kind of Ban Zhuan robots, including base（15）, motor B（14）, rotary shaft（13）, rotating seat（16）, forearm driving machine
Structure, large arm drive mechanism, assisted rotating mechanism and clamping mechanism, is characterized in that：In base（15）Inside it is fixed with motor B（14）With
Reductor, in motor B（14）Side be provided with reductor, in base（15）Top be provided with rotation outer shaft sleeve（13）, it is described to subtract
Fast machine and rotation outer shaft sleeve（13）Interior rotary shaft is fixedly connected, in rotation outer shaft sleeve（13）Top be provided with rotating seat（16）,
In rotating seat（16）On be respectively equipped with forearm drive mechanism and large arm drive mechanism, the forearm drive mechanism and large arm driving machine
Structure passes through rotary shaft A（27）Connection, in one end bottom of forearm drive mechanism assisted rotating mechanism, the auxiliary whirler are provided with
Structure is fixedly installed with clamping mechanism.
2. Ban Zhuan robots according to claim 1, is characterized in that：The large arm drive mechanism includes clamp（17）, it is big
Arm motor（18）, large arm actuating arm（19）, large arm slave arm（21）, large arm（22）, large arm slide block（23）With large arm bearing（24）,
In rotating seat（16）Side be provided with clamp（17）, the large arm actuating arm（19）By large arm motor（18）Drive, large arm drives
Arm（19）One end and clamp（17）It is fixedly connected, the large arm actuating arm（19）The other end pass through large arm bearing（24）With it is big
Arm slide block（23）Connection, the large arm slide block（23）It is slidably arranged in large arm（22）Lateral surface on, large arm（22）One end lead to
Cross rotating shaft and rotating seat（16）It is flexibly connected, large arm slave arm（21）One end pass through bearing（20）With rotating seat（16）Extension
Face is flexibly connected, large arm slave arm（21）The other end, large arm（22）One end with rotary shaft A（27）On connecting plate（3）
It is flexibly connected.
3. Ban Zhuan robots according to claim 2, is characterized in that：The large arm actuating arm（19）For electric pushrod.
4. Ban Zhuan robots according to claim 1, is characterized in that：The forearm drive mechanism includes forearm motor（1）、
Forearm actuating arm（2）, forearm bearing（4）, forearm slave arm（5）, forearm（25）And clamp（26）, the forearm actuating arm（2）
By forearm motor（1）Drive, forearm actuating arm（2）One end and clamp（26）Upper end be flexibly connected, clamp（26）Lower end
It is fixedly installed on large arm slide block（23）Two sides on, forearm actuating arm（2）The other end pass through forearm bearing（4）Slide and arrange
In forearm（25）Lateral surface on, forearm slave arm（5）One end and rotary shaft A（27）On connecting plate（3）It is flexibly connected, it is little
Arm（25）One end and rotary shaft A（27）It is flexibly connected, forearm（25）The other end and rotary shaft B（28）Flexible connection, forearm
Slave arm（5）The other end and rotary shaft B（28）On terminal pad（30）It is flexibly connected, the terminal pad（30）With auxiliary rotation
Mechanism connects.
5. Ban Zhuan robots according to claim 4, is characterized in that：The forearm actuating arm（2）For electric pushrod.
6. the Ban Zhuan robots according to claim 2 or 4, is characterized in that：The connecting plate（3）Triangle is set to,
Connecting plate（3）Three apexes be equipped with fulcrum, three fulcrums respectively with large arm slave arm（21）, forearm slave arm（5）, turn
Moving axis A（27）It is flexibly connected.
7. Ban Zhuan robots according to claim 1, is characterized in that：The assisted rotating mechanism includes motor A（12）, turn
Moving gear（29）And connecting shaft（31）, the rotate gear（29）It is arranged on terminal pad（30）Side, the rotate gear
（29）It is fixedly connected with the reductor of bottom, described reductor and motor A（12）It is fixedly connected, in rotate gear（29）One
Side is fixed with connecting shaft（31）, the connecting shaft（31）It is fixedly connected with clamping mechanism.
8. Ban Zhuan robots according to claim 1, is characterized in that：The clamping mechanism includes gripper（6）, nipper A
（7）, nipper B（9）, cylinder block（10）And cylinder（11）, in connecting shaft（31）One end be provided with gripper（6）, in gripper（6）
One end be interval with activity setting nipper A（7）With nipper B（9）, the nipper A（7）With nipper B（9）Top pass through S
The connecting plate connection of type, in gripper（6）Bottom be provided with fixed cylinder（11）Cylinder block（10）, the cylinder（11）Work
Stopper rod and nipper B（9）Bottom be fixedly connected.
9. the Ban Zhuan robots according to claim 4 or 7, is characterized in that：In terminal pad（30）It is provided with two fulcrums, two
Individual fulcrum respectively with rotary shaft B（28）, forearm slave arm（5）It is flexibly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748735.1A CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748735.1A CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671071A true CN106671071A (en) | 2017-05-17 |
| CN106671071B CN106671071B (en) | 2023-11-24 |
Family
ID=58839405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610748735.1A Active CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671071B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108748126A (en) * | 2018-06-04 | 2018-11-06 | 广州引航者信息科技有限公司 | A kind of Ban Zhuan robots |
| CN109807927A (en) * | 2019-03-14 | 2019-05-28 | 长春工业大学 | A kind of V belt translation formula robot arm |
| CN110886497A (en) * | 2019-10-29 | 2020-03-17 | 无为县华标新型墙体材料有限公司 | Multi-angle delivering device for sand-lime bricks |
| CN110902371A (en) * | 2019-12-10 | 2020-03-24 | 宜兴市格雷普林业机械有限公司 | High-freedom-degree clamping arm for collecting materials |
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| CN109807927A (en) * | 2019-03-14 | 2019-05-28 | 长春工业大学 | A kind of V belt translation formula robot arm |
| CN110886497A (en) * | 2019-10-29 | 2020-03-17 | 无为县华标新型墙体材料有限公司 | Multi-angle delivering device for sand-lime bricks |
| CN110902371A (en) * | 2019-12-10 | 2020-03-24 | 宜兴市格雷普林业机械有限公司 | High-freedom-degree clamping arm for collecting materials |
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| CN106671071B (en) | 2023-11-24 |
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