CN108381546A - Foundry robot's forearm with pneumatic gripping device - Google Patents
Foundry robot's forearm with pneumatic gripping device Download PDFInfo
- Publication number
- CN108381546A CN108381546A CN201810472608.2A CN201810472608A CN108381546A CN 108381546 A CN108381546 A CN 108381546A CN 201810472608 A CN201810472608 A CN 201810472608A CN 108381546 A CN108381546 A CN 108381546A
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- forearm
- handgrip
- motor
- clamping jaw
- rear end
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- 210000000245 forearm Anatomy 0.000 title claims abstract description 112
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 abstract description 4
- 230000007812 deficiency Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract 1
- 210000000707 wrist Anatomy 0.000 description 10
- 239000012636 effector Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000002787 reinforcement Effects 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of foundry robot's forearm with pneumatic gripping device, including rear forearm, preceding forearm, handgrip, rotary motor, driving device of waving and handgrip clamping device.It is connected afterwards by rotary motor between forearm and preceding forearm, is connected by hinge and driving device of waving between preceding forearm and handgrip, the closure of handgrip is realized by handgrip clamping device and resetting spring respectively with opening.Rotary motor be mounted in rear forearm and its be axially parallel to before forearm length direction, wave motor and clamping cylinder be close to rear forearm arrangement, be effectively improved the load capacity of end handgrip.The present invention is used as the forearm of the single armed or tow-armed robot including foundry robot, execute the job tasks such as crawl, carrying, lower core, group core, sampling and detection, have many advantages, such as that compact-sized, reasonable design, rigidity are high, load capacity is strong and working space is big, the technological deficiency that existing robot forearm structure design can be overcome, more suitable for promoting.
Description
Technical field
The present invention relates in a kind of automated arm field robot device more particularly to a kind of casting with pneumatic gripping device
Make robot forearm.
Background technology
The forearm of industrial robot is the indispensable critical component for connecting wrist body and large arm and pedestal, plays drive
The effect of wrist body and end effector rotation.Meanwhile forearm can be driven and drive wrist body and end effector to realize
It swings.In general single armed or tow-armed robot, wrist body usually has three degree of freedom, can realize the inclined of wrist body
Turn, pitching and revolution.Usually, the side close proximity to wrist body will be arranged in for the drive motor of wrist body, this can be with
The interference between the transmission of wrist body and the transmission of forearm is avoided, and simplifies the structure design of forearm.But in wrist body motor
It is placed under conditions of front end, even if bigger if the dead weight load of the not connected end effector forearm of robot, to limit
The bearing capacity of forearm and entire robot also limits the range of choice of end effector.Simultaneously as being used for wrist body
Motor be placed in the front end of forearm, to the rigidity of forearm, more stringent requirements are proposed.If the insufficient rigidity of forearm may be made
It is deformed at any time at it, to detract the service life that forearm even shortens robot.To improve the rigidity of forearm, need
It selects the higher material of intensity hardness or reinforcement design is carried out to the structure of forearm, can all increase its manufacturing complexity and manufacture
Cost.
Be frequently necessary in dual-arm foundry robot the two working arm work compounds in left and right complete casting choose, cutting,
The job tasks such as sampling or analysis test, and existing robot forearm degree of freedom is less, or exist and drive power often close
Paw or end effector arrangement, not only greatly limit the load capacity of robot working arm, but also limit
The working space and operating flexibility degree of robot working arm.
In view of the above problems, need to design a kind of drive motor connection and reasonable arrangement, rigidity higher, load capacity higher and flexibly
The industrial robot forearm structure of property bigger.
Invention content
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of foundry robots with pneumatic gripping device with small
Arm, for executing the job tasks such as crawl, carrying, lower core, group core, sampling and detection in single armed or dual-arm foundry robot.
Another object of the present invention is to provide a kind of high load capacity, working space is big and foundry robot's forearm knot of stable drive
Structure.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of foundry robot's forearm with pneumatic gripping device, including rear forearm, preceding forearm, handgrip, rotary motor, wave
Driving device and handgrip clamping device.Wherein, it is equipped with connection monaural seat in the rear end of the rear forearm, be used for and robot
Large arm is connected, and the front end of the rear forearm is open shell structure；The rotary motor is fixedly mounted on rear forearm
Shell in, the forearm rotation after for forearm before driving, and the rear end of the rotary motor passes through screw with rear forearm
It is connected；The preceding forearm is located at the front end of rear forearm, and the rear end of the preceding forearm passes through rotary motor and rear forearm phase
Connection, and the rear end of preceding forearm is fixedly mounted on by screw on the output flange of rotary motor；The driving device of waving
The inside of forearm before being fixedly mounted on, for for handgrip relatively before the swing of forearm power is provided, the preceding forearm with
It is connected with driving device of waving by hinge between handgrip；The rear end of the handgrip clamping device is fixedly mounted on preceding forearm
Inside, the front end of the handgrip clamping device is connected with handgrip by hinge, for driving handgrip to execute crawl operation,
And provide clamping force；It is equipped with long waist shaped groove in the left side of the preceding forearm, stepped hole is equipped in the front end of the preceding forearm,
It is equipped with long waist shaped end cap in the outside of the long waist shaped groove, right end cap, long waist shaped are equipped in the right-hand end of the stepped hole
End cap, right end cap are connected by screw with preceding forearm.The rotary motor is using air motor or hydraulic motor or watches
Take decelerating motor.
The handgrip includes handgrip seat, left clamping jaw and right clamping jaw, the job task for executing crawl article.Wherein,
The rear end of the handgrip seat is connected with the front end of preceding forearm by hinge, and the handgrip seat takes the shape of the letter U structure, in handgrip seat
Front end is equipped with clamping jaw mounting groove, and spring retainer pipe is additionally provided in the clamping jaw mounting groove, and circle is equipped in the rear end of handgrip seat
Shape cord hole is additionally provided with fan-shaped rope slot in the both sides of the round cord hole；The rear end of the left clamping jaw, right clamping jaw is mounted on
In the clamping jaw mounting groove of handgrip seat, left clamping jaw, right clamping jaw are connected by left axis pin, right axis pin with handgrip seat respectively.
Further, can left clamping jaw, right clamping jaw inside clamping face on anti-skid bulge is set, with increase capture article when
Frictional force；Can also pressure sensor be set in the inside of left clamping jaw, right clamping jaw, for detecting when handgrip captures article to being grabbed
The clamping force for taking article to apply.
The driving device of waving includes wave motor, driving pulley, driven pulley, synchronous toothed belt and driven shaft.
Wherein, the rear end of forearm before the motor of waving is fixedly mounted on is the powered rotation of driving pulley；The active
Belt wheel is fixedly mounted on the output shaft for motor of waving, and is connected by flat key with the output shaft for motor of waving.It is described from
Before moving axis is placed in the stepped hole of forearm front end, and the middle part of driven shaft is connected by bearing with the rear end of handgrip seat；It is driven
The left and right ends of axis are connected by way of interference fit with long waist shaped end cap, right end cap, are turned with preventing driven shaft from generating
Dynamic and axial motion；It is equipped with positioning shaft shoulder in the left end of the driven shaft, lacing hole is equipped in the centre position of driven shaft, and
It is equipped with conical horn mouth at the both ends of the lacing hole；Interior hexagonal is additionally provided on the right end head of the driven shaft to adjust
Hole, the angle of the lacing hole for adjusting driven shaft；The driven pulley is sleeved on the left end of driven shaft, and logical with driven shaft
The mode for crossing clearance fit is connected, to ensure that driven pulley can be rotated relative to driven shaft；The rear end of driven pulley and handgrip seat
It is connected by positioning pin.The synchronous toothed belt is engaged with driving pulley, driven pulley holding simultaneously.The electricity of waving
Machine uses servo deceleration motor.
The handgrip clamping device includes clamping cylinder, flexible wire ropes, resetting spring, steel wire rope connecting rod.Wherein,
The rear end of forearm before the clamping cylinder is fixedly mounted on, and positioned at the front of motor of waving, for for handgrip closure or
It clamps and power is provided；The rear end of the flexible wire ropes and the piston rod of clamping cylinder are fixedly connected with, the front end of flexible wire ropes
It is connected with the rear end of steel wire rope connecting rod；The resetting spring is placed in spring retainer pipe, and be sleeved on flexible wire ropes and
The outside of steel wire rope connecting rod provides reset power for the opening of handgrip；The front end of the resetting spring and left clamping jaw, right folder
The tail portion of pawl is kept in contact；The front end of the steel wire rope connecting rod and the tail portion of left clamping jaw, right clamping jaw pass through intermediate axis pin phase
Connection.The clamping cylinder uses double-acting cylinder, and is connected with solenoid directional control valve and air source by pipeline.
In use, the relatively rear corner of forearm in the axial direction of forearm before being adjusted by rotary motor, passes through to wave and drive
The swing angle of forearm before dynamic device adjusts handgrip relatively, by the shortening or elongation of clamping cylinder in handgrip clamping device and multiple
The restoring force of position spring realizes the closure or opening of handgrip, and then realizes handgrip to being crawled the clamp or release of article.
The invention has the advantages that compared with prior art, the rotary motor in the present invention is mounted in rear forearm, and
The length direction of forearm before its axis is parallel to, waves motor and clamping cylinder is close to rear forearm arrangement, does not carry only effectively
The high load capacity of forearm end handgrip, also increases the working space and movement flexibility ratio of handgrip, is particularly suitable for existing
The robot of both arms work compound demand.The present invention can be used as the small of single armed including foundry robot or tow-armed robot
Arm, for executing the job tasks such as crawl, carrying, lower core, group core, sampling and detection, with compact-sized, reasonable design, just
The advantages that degree is high, load capacity is strong and working space is big can overcome the technological deficiency of existing robot forearm structure design, more suitable
Together in popularization.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the complete section structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of the driven shaft of the present invention；
Fig. 4 is the structural schematic diagram of the handgrip seat of the present invention.
Specific implementation mode
In order to which the technical means, creative features, achievable purpose and effectiveness for making the present invention be realized are easy to understand, below
It in conjunction with specific embodiments and illustrates, the present invention is further explained.
If Fig. 1 and Fig. 2 show, a kind of foundry robot's forearm with pneumatic gripping device, including rear forearm 1, preceding forearm 2, grab
Hand 3, rotary motor 4, driving device of waving 5 and handgrip clamping device 6.Wherein, it is equipped with connection in the rear end of the rear forearm 1
Monaural seat 11 is connected for the large arm with robot by hinge, and the front end of the rear forearm 1 is open shell mould knot
Structure；The rotary motor 4 is fixedly mounted in the shell of rear forearm 1, for the relatively rear forearm 1 of forearm before driving 2 around revolution
The axis of 4 output shaft of motor rotates, and the rear end of the rotary motor 4 is connected with rear forearm 1 by screw；Before described
Forearm 2 is located at the front end of rear forearm 1, and the rear end of the preceding forearm 2 is connected by rotary motor 4 with rear forearm 1, and preceding small
The rear end of arm 2 is fixedly mounted on by screw on the output flange of rotary motor 4；The fixed installation of driving device 5 of waving
In the inside of preceding forearm 2, for for handgrip 3 relatively before the swing of forearm 2 power, the preceding forearm 2 and handgrip 3 are provided
Between be connected with driving device 5 of waving by hinge；Forearm 2 before the rear end of the handgrip clamping device 6 is fixedly mounted on
Inside, the front end of the handgrip clamping device 6 is connected with handgrip 3 by hinge, is made for driving handgrip 3 to execute crawl
Industry, and clamping force is provided；It is equipped with long waist shaped groove 21 in the left side of the preceding forearm 2, is equipped in the front end of the preceding forearm 2
Stepped hole 22 is equipped with long waist shaped end cap 23 in the outside of the long waist shaped groove 21, is set in the right-hand end of the stepped hole 22
There are right end cap 24, long waist shaped end cap 23, right end cap 24 to be connected by screw with preceding forearm 2.The rotary motor 4 uses
Air motor or hydraulic motor or servo deceleration motor.
Show as shown in Figure 1, Figure 2 with Fig. 4, the handgrip 3 includes handgrip seat 31, left clamping jaw 32 and right clamping jaw 33, for executing
Capture the job task of article.Wherein, the rear end of the handgrip seat 31 is connected with the front end of preceding forearm 2 by hinge, described
Handgrip seat 31 take the shape of the letter U structure, clamping jaw mounting groove 311 is equipped in the front end of handgrip seat 31, in the clamping jaw mounting groove 311
It is additionally provided with spring retainer pipe 312, round cord hole 313 is equipped in the rear end of handgrip seat 31, in the both sides of the round cord hole 313
It is additionally provided with fan-shaped rope slot 314；The rear end of the left clamping jaw 32, right clamping jaw 33 is mounted on the clamping jaw mounting groove of handgrip seat 31
In 311, left clamping jaw 32, right clamping jaw 33 are connected by left axis pin 34, right axis pin 35 with handgrip seat 31 respectively.
Show as shown in Figure 1, Figure 2 with Fig. 3, the driving device 5 of waving includes wave motor 51, driving pulley 52, driven belt
Wheel 53, synchronous toothed belt 54 and driven shaft 55.Wherein, the rear end of forearm 2 before the motor 51 of waving is fixedly mounted on, based on
The powered rotation of movable belt pulley 52；The driving pulley 52 is fixedly mounted on the output shaft for motor 51 of waving, and with pendulum
The output shaft of flashlight machine 51 is connected by flat key.Before the driven shaft 55 is placed in the stepped hole 22 of 2 front end of forearm, and from
The middle part of moving axis 55 is connected by bearing 56 with the rear end of handgrip seat 31；The left and right ends of driven shaft 55 and long waist shaped end cap
23, right end cap 24 is connected by way of interference fit, to prevent driven shaft 55 from generating rotationally and axially vibration；Described
The left end of driven shaft 55 be equipped with positioning shaft shoulder 551, lacing hole 552 is equipped in the centre position of driven shaft 55, and described
The both ends of lacing hole 552 are equipped with conical horn mouth；It is additionally provided with interior hexagonal adjustment hole on the right end head of the driven shaft 55
553, the angle of the lacing hole 552 for adjusting driven shaft 55；The driven pulley 53 is sleeved on the left end of driven shaft 55, and
It is connected by way of clearance fit with driven shaft 55, to ensure that driven pulley 53 can be rotated relative to driven shaft 55；Driven belt
Wheel 53 is connected with the rear end of handgrip seat 31 by positioning pin 531.The synchronous toothed belt 54 simultaneously with driving pulley 52, from
Movable belt pulley 53 keeps engagement.The motor 51 of waving uses servo deceleration motor.
Show as shown in Figure 1, Figure 2 with Fig. 4, the handgrip clamping device 6 includes clamping cylinder 61, flexible wire ropes 62, resets
Spring 63, steel wire rope connecting rod 64.Wherein, the rear end of forearm 2 before the clamping cylinder 61 is fixedly mounted on, and be located at and wave
The front of motor 51, for for handgrip 3 closure or clamping power is provided；The rear end of the flexible wire ropes 62 and clamping gas
The piston rod of cylinder 61 is fixedly connected with, and the front end of flexible wire ropes 62 is connected with the rear end of steel wire rope connecting rod 64；The reset bullet
Spring 63 is placed in spring retainer pipe 312, and is sleeved on the outside of flexible wire ropes 62 and steel wire rope connecting rod 64, is handgrip 3
It opens to provide and resets power；The front end and the tail portion of left clamping jaw 32, right clamping jaw 33 of the resetting spring 63 are kept in contact；It is described
The front end of steel wire rope connecting rod 64 and the tail portion of left clamping jaw 32, right clamping jaw 33 be connected by intermediate axis pin 36.The folder
Tight cylinder 61 uses double-acting cylinder, and is connected with solenoid directional control valve and air source by pipeline.
In use, the corner of forearm 1 in the axial direction thereof after adjusting preceding forearm 2 relatively by rotary motor 4, passes through pendulum
The swing angle of forearm 2, passes through the shortening of clamping cylinder 61 in handgrip clamping device 6 before hand driving device 5 adjusts handgrip 3 relatively
Or the restoring force of elongation and resetting spring 63 realizes the closure or opening of handgrip 3, and then realize handgrip 3 to being crawled the folder of article
Tight or release.
In the description of the present invention, it is to be understood that, term "upper", "lower", "inner", "outside", "front", "rear", " left side ",
The orientation or positional relationship of instructions such as " right sides " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this hair
Bright and simplified description, does not indicate or imply the indicated device or element must have a particular orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (3)
1. a kind of foundry robot's forearm with pneumatic gripping device, including rear forearm, preceding forearm, handgrip, rotary motor, drive of waving
Dynamic device and handgrip clamping device, it is characterised in that：The rear end of the rear forearm be equipped with connection monaural seat, and it is described after
The front end of forearm is open shell structure；The rotary motor is fixedly mounted in the shell of rear forearm, and its rear end is with after
Forearm is connected by screw；The preceding forearm is located at the front end of rear forearm, and the rear end of the preceding forearm is by turning round horse
It is connected up to rear forearm, and the rear end of preceding forearm is fixedly mounted on by screw on the output flange of rotary motor；Described
The inside of forearm before driving device of waving is fixedly mounted on passes through hinge and driving dress of waving between the preceding forearm and handgrip
It sets and is connected；The inside of forearm before the rear end of the handgrip clamping device is fixedly mounted on, the handgrip clamping device
Front end is connected with handgrip by hinge；It is equipped with long waist shaped groove in the left side of the preceding forearm, before the preceding forearm
End is equipped with stepped hole, is equipped with long waist shaped end cap in the outside of the long waist shaped groove, is equipped in the right-hand end of the stepped hole
Right end cap, long waist shaped end cap, right end cap are connected by screw with preceding forearm；
The handgrip includes handgrip seat, left clamping jaw and right clamping jaw, and the rear end and the front end of preceding forearm of the handgrip seat pass through
Hinge is connected, and the handgrip seat takes the shape of the letter U structure, is equipped with clamping jaw mounting groove in the front end of handgrip seat, is installed in the clamping jaw
It is additionally provided with spring retainer pipe in slot, is equipped with round cord hole in the rear end of handgrip seat, is additionally provided in the both sides of the round cord hole
Fan-shaped rope slot；The rear end of the left clamping jaw, right clamping jaw is mounted in the clamping jaw mounting groove of handgrip seat, left clamping jaw, right clamping jaw
It is connected respectively with handgrip seat by left axis pin, right axis pin；
The driving device of waving includes wave motor, driving pulley, driven pulley, synchronous toothed belt and driven shaft, described
Motor of waving be fixedly mounted on before forearm rear end, the driving pulley is fixedly mounted on the output shaft for motor of waving,
And it is connected by flat key with the output shaft for motor of waving；The rear end phase that the middle part of the driven shaft passes through bearing and handgrip seat
Connection, the left and right ends of driven shaft are connected by way of interference fit with long waist shaped end cap, right end cap；Described is driven
Belt wheel is sleeved on the left end of driven shaft, and is connected by way of clearance fit with driven shaft, driven pulley and handgrip seat
Rear end is connected by positioning pin；The synchronous toothed belt is engaged with driving pulley, driven pulley holding simultaneously；
The handgrip clamping device includes clamping cylinder, flexible wire ropes, resetting spring, steel wire rope connecting rod, the folder
The rear end of forearm before tight cylinder is fixedly mounted on, and positioned at the front for motor of waving；The rear end of the flexible wire ropes and folder
The piston rod of tight cylinder is fixedly connected with, and the front end of flexible wire ropes is connected with the rear end of steel wire rope connecting rod；The resetting spring
Be placed in spring retainer pipe, and be sleeved on outside flexible wire ropes and steel wire rope connecting rod, the front end of the resetting spring with
Left clamping jaw, right clamping jaw tail portion be kept in contact；The front end and the tail portion of left clamping jaw, right clamping jaw of the steel wire rope connecting rod pass through
Intermediate axis pin is connected.
2. a kind of foundry robot's forearm with pneumatic gripping device according to claim 1, it is characterised in that：Described
The left end of driven shaft is equipped with positioning shaft shoulder, is equipped with lacing hole in the centre position of driven shaft, and at the both ends of the lacing hole
It is equipped with conical horn mouth, interior hexagonal adjustment hole is additionally provided on the right end head of the driven shaft.
3. a kind of foundry robot's forearm with pneumatic gripping device according to claim 1, it is characterised in that：Described returns
Turn motor using air motor or hydraulic motor or servo deceleration motor；The motor of waving uses servo deceleration motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472608.2A CN108381546B (en) | 2018-05-17 | 2018-05-17 | Forearm for casting robot with pneumatic grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472608.2A CN108381546B (en) | 2018-05-17 | 2018-05-17 | Forearm for casting robot with pneumatic grip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108381546A true CN108381546A (en) | 2018-08-10 |
| CN108381546B CN108381546B (en) | 2023-12-22 |
Family
ID=63071050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472608.2A Active CN108381546B (en) | 2018-05-17 | 2018-05-17 | Forearm for casting robot with pneumatic grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381546B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592059A (en) * | 2018-10-24 | 2019-04-09 | 武汉利能机电科技有限公司 | Modularized multifunctional unmanned aerial vehicle acquisition device |
| CN114762622A (en) * | 2021-09-15 | 2022-07-19 | 科弛医疗科技(北京)有限公司 | Surgical execution device and surgical robot |
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| CN2199853Y (en) * | 1994-06-18 | 1995-06-07 | 四川乾坤高新技术研究院 | Etiquette robot with programme-controlled manipulator |
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| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| US20160262969A1 (en) * | 2015-03-10 | 2016-09-15 | Jtekt Corporation | Swinging joint device, walking assisting device, conveying device, manipulator, and walking-ability assisting device |
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| CN107825420A (en) * | 2017-11-28 | 2018-03-23 | 张旋 | A kind of flexible hydraulic driving mechanical |
| CN208575860U (en) * | 2018-05-17 | 2019-03-05 | 安徽理工大学 | Foundry robot's forearm with pneumatic gripping device |
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2018
- 2018-05-17 CN CN201810472608.2A patent/CN108381546B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2199853Y (en) * | 1994-06-18 | 1995-06-07 | 四川乾坤高新技术研究院 | Etiquette robot with programme-controlled manipulator |
| TW545355U (en) * | 2001-07-18 | 2003-08-01 | Tzung-Li Li | Robotic arm with parallel four links |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| US20160262969A1 (en) * | 2015-03-10 | 2016-09-15 | Jtekt Corporation | Swinging joint device, walking assisting device, conveying device, manipulator, and walking-ability assisting device |
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| CN208575860U (en) * | 2018-05-17 | 2019-03-05 | 安徽理工大学 | Foundry robot's forearm with pneumatic gripping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592059A (en) * | 2018-10-24 | 2019-04-09 | 武汉利能机电科技有限公司 | Modularized multifunctional unmanned aerial vehicle acquisition device |
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| CN114762622A (en) * | 2021-09-15 | 2022-07-19 | 科弛医疗科技(北京)有限公司 | Surgical execution device and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108381546B (en) | 2023-12-22 |
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