CN115194743A - A surplus thing suction device for snakelike arm robot is terminal - Google Patents
A surplus thing suction device for snakelike arm robot is terminal Download PDFInfo
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- CN115194743A CN115194743A CN202210878728.9A CN202210878728A CN115194743A CN 115194743 A CN115194743 A CN 115194743A CN 202210878728 A CN202210878728 A CN 202210878728A CN 115194743 A CN115194743 A CN 115194743A
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- 239000000463 material Substances 0.000 claims abstract description 19
- 238000005452 bending Methods 0.000 claims description 9
- 239000012465 retentate Substances 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000001788 irregular Effects 0.000 abstract description 3
- 239000012636 effector Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 239000004814 polyurethane Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a device for sucking and removing excess at the tail end of a snake-shaped arm robot, which comprises a fixedly-connected bracket and a quick-change suction head, wherein a collecting bin is formed inside one end, close to a robot body, of the quick-change suction head, and an excess channel is formed inside one end, far away from the robot body, of the quick-change suction head; the device also includes: the air path pipeline is communicated with the air passage, extends to the front end of the robot body along the extending direction of the robot body and is communicated with an air source at the front end of the robot body; one end of the quick-change suction head, which is far away from the robot body, is a suction inlet, and excess is sucked by the suction inlet and enters the collection bin through the air passage. The device for sucking and removing the excess materials is used for removing light and small excess materials with irregular shapes in a narrow space by adopting a negative pressure sucking and removing principle, and simultaneously ensures the working capacity of sucking and collecting the excess materials in the gas path pipeline with a long and thin structure by adopting the design of the pressurizing blades and the collecting bin positioned at the tail end of the robot.
Description
Technical Field
The invention relates to the technical field of snake-shaped arm robots, in particular to a device for sucking and removing excess at the tail end of a snake-shaped arm robot.
Background
The snakelike arm robot is slender and nimble robot, because the structural feature of self, snakelike arm robot can freely shuttle in narrow and small, complicated space, is difficult to cause very big damage to the environment moreover to can follow its entering path withdrawal, and can not disturb the environment, thereby get into the place that the mankind can't reach and replace human work.
The snake-shaped arm robot is generally provided with a corresponding end effector at the tail end to carry out detection, grabbing and other works. Due to the structural characteristics of the serpentine arm robot itself and the limitations of the working environment, the geometry and weight of the end effector cannot be generally too large.
In the prior art, the functions of the end effector of the snake-shaped arm robot are limited due to the requirements of the structure and the working environment of the snake-shaped arm robot. The end effector for removing the surplus is generally a gripping mechanism mounted at the end of the robot, and the surplus in the space is taken out by gripping. However, the greatest drawback of the gripping mechanism is that it has poor cleaning effect on the over-sized and indeterminate shape of the excess, and its continuous working performance is very limited because only one excess can be gripped at a time.
Therefore, in view of the above technical problems, those skilled in the art need to develop a device for sucking the excess at the end of a snake-shaped arm robot.
Disclosure of Invention
The invention aims to provide a device for sucking and removing the excess at the tail end of a snakelike arm robot, which is provided with a sucking and removing structure at the tail end, utilizes a negative pressure sucking and removing principle to finish the removal work of the excess in a narrow space, simultaneously adopts a modularized design to provide a uniform quick-change structure for tail end actuators with different functions and provides a design basic template for more snakelike arm robot tail end actuators with different functions.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention relates to a device for sucking excess material at the tail end of a snake-shaped arm robot, which is arranged at the tail end of the snake-shaped arm robot, and comprises:
the fixed connection support is assembled and fixed on a single section at the tail end of a robot body of the snake-shaped arm robot; and
the quick-change sucker is fixedly assembled with the fixedly-connected bracket, a collecting bin is formed in the quick-change sucker close to one end of the robot body, and a surplus passage is formed in the quick-change sucker far away from one end of the robot body;
the device also includes:
the gas path pipeline is communicated with the excess flow channel, extends to the front end of the robot body along the extension direction of the robot body, and is communicated with a gas source at the front end of the robot body;
one end of the quick-change suction head, which is far away from the robot body, is a suction inlet, and excess is sucked by the suction inlet and enters the collection bin through the excess channel.
Further, the fixedly connected bracket comprises:
a rack housing;
the fixing seat is formed at one end of the bracket shell close to the robot body;
a plurality of bolt holes are distributed on the fixed seat along the circumferential direction of the fixed seat, and the fixed connection bracket and the robot body are assembled and fixed through bolts;
the middle part of the fixed seat is provided with an air suction channel communicated with the air channel pipeline;
the lower part of the fixed seat is provided with a connector female seat.
Further, the upper structure of the rack housing extends in a horizontal direction;
the upper structure and one side, matched with the quick-change sucker, of the upper structure form a plug-in part;
a locking structure is arranged in the middle of the upper structure, and the quick-change sucker is fixedly inserted into the fixed connection bracket and locked by the locking structure;
and the end part of the upper structure, which is far away from one end of the fixing seat, is provided with a visual lens fixing seat.
Further, the quick-change suction head comprises:
assembling and fixing an upper piece structure and a lower piece structure of the quick-change suction head;
the space inside the quick-change sucker lower piece structure, which is close to one side of the fixed seat, is configured as the collection bin, and a collection bin end cover is arranged at one end, which is assembled with the fixed seat, of the quick-change sucker lower piece structure;
the inner parts of the quick-change sucker upper piece structure and the quick-change sucker lower piece structure, which are far away from one end of the fixed seat, form the excess passageway, and the outermost end of the excess passageway is the suction inlet;
the two sides of the quick-change suction head upper piece structure in the width direction are bent and extended, and the quick-change suction head upper piece structure is formed into an insertion channel matched with the insertion part through the bent structures on the two sides.
Furthermore, two groups of supercharging blades are symmetrically arranged at one end of the excess passage close to the suction port, and the space between the two groups of supercharging blades is an excess suction space;
the plenum vane is passively rotated by gas within the retentate channel to drive retentate into the retentate channel.
Further, the locking structure includes:
a lock plate channel extending circumferentially along the superstructure; and
a lock plate positioned within the lock plate channel;
the end part of the bending structure of the quick-change sucker upper piece structure is provided with a locking piece groove capable of containing the locking piece.
Furthermore, the middle part of one end, matched with the fixed seat, of the quick-change sucker is provided with a suction channel matching hole;
the suction channel matching hole and the excess material channel are provided with obliquely arranged filter screens, and excess materials are guided into the collection bin through the inclined surfaces of the filter screens.
Further, the collection bin is internally provided with a step structure.
In the technical scheme, the device for sucking the excess at the tail end of the snake-shaped arm robot has the following beneficial effects:
the device for sucking and removing the excess materials is used for removing light and small excess materials with irregular shapes in a narrow space by adopting a negative pressure principle, and simultaneously, the working capacity of sucking and removing the gas path pipeline with a slender structure is ensured by adopting the design of the pressurizing blades and the collecting bin positioned at the tail end of the robot.
The end effector in the device adopts a quick-change structure, which not only facilitates the disassembly and assembly of the end effector and the post-processing of redundant materials, but also provides a design template and a unified interface for other end effectors with different functions.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a layout diagram of a sucking device for a device for sucking an excess at the end of a snake-shaped arm robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an apparatus for sucking excess from a distal end of a snake-shaped arm robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a fastening bracket of a device for sucking excess at the end of a snake-shaped arm robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a quick-change suction head of a device for sucking excess at the end of a snake-shaped arm robot, according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the internal structure of a quick-change suction head of the device for sucking the excess at the end of the snake-shaped arm robot according to the embodiment of the present invention;
FIG. 6 is a schematic view of the overall installation of a device for sucking excess from the end of a snake-shaped arm robot according to an embodiment of the present invention.
Description of reference numerals:
10. a residue suction device; 11. a gas source; 12. a gas path channel;
100. a robot body; 200. an automatic guided vehicle;
1. fixedly connecting a bracket; 2. quickly replacing the suction head;
101. a rack housing; 102. a fixed seat; 103. a superstructure; 104. a visual lens fixing seat; 105. a connector female socket; 106. an air suction passage; 107. a lock plate channel; 108. a locking plate; 109. a plug-in part;
201. a chip mounting structure of the quick-change sucker; 202. a lower piece structure of the quick-change sucker; 203. a retentate channel; 204. a collection bin; 205. a suction inlet; 206. a supercharging blade; 207. collecting bin end covers; 208. a bending structure; 209. a plug channel; 210. a locking piece slot; 211. an air suction passage fitting hole; 212. filtering with a screen; 213. a ladder structure.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1-6;
an excess material sucking device 10 for the end of a snake-shaped arm robot of the present embodiment, the excess material sucking device 10 being installed at the end of the snake-shaped arm robot, the excess material sucking device 10 comprising:
the fixed connection support 1 is assembled and fixed at a single section of the tail end of a robot body 100 of the snake-shaped arm robot; and
the quick-change sucker 2 is fixedly assembled with the fixedly-connected bracket 1, the interior of one end, close to the robot body 100, of the quick-change sucker 2 is formed into a collecting bin 204, and the interior of one end, far away from the robot body 100, of the quick-change sucker 2 is formed into a surplus passage 203;
the device also includes:
the gas path pipeline 12 is communicated with the surplus article channel 203, the gas path pipeline 12 extends to the front end of the robot body 100 along the extending direction of the robot body 100 and is communicated with the gas source 11 at the front end of the robot body 100;
the end of the quick-change suction head 2 remote from the robot body 100 is a suction inlet 205, and excess fluid is sucked in through the suction inlet 205 and enters the collection chamber 204 through an excess fluid channel 203.
Specifically, the embodiment discloses a device 10 for sucking and removing excess used as an end effector of a snake-shaped arm robot, which mainly comprises a fixedly-connected bracket 1 and a quick-change suction head 2 fixedly assembled with the bracket. The device 10 for sucking and removing the excess adopts a negative pressure suction mode to remove the excess, the air source 11 is arranged at the front end of the snake-shaped arm robot, and the air channel 12 extending along the extending direction of the snake-shaped arm robot acts on the quick-change suction head 2, so that the suction of the excess and the collection in the collection bin 204 are finally realized. And in order to avoid the surplus thing to block up gas circuit pipeline 12, the collection storehouse 204 of this embodiment sets up in quick change suction head 2, and simultaneously, because the work needs of snakelike arm robot body 100, gas circuit pipeline 12 must produce a large amount of bending deformation, therefore, polyurethane pneumatic hose (PU hose promptly) is chooseed for use to the material of gas circuit pipeline 12 of this embodiment, when having sufficient flexibility and satisfying the bending deformation requirement, certain rigidity has again, can guarantee that inside plays the cross section and is not dwindled by the extrusion, and PU hose inner wall is smooth relatively, can effectively reduce the loss of the way of the interior gaseous of pipeline.
In addition, snakelike arm robot generally installs at automatic guided vehicle 200 (AGV car), and need frequently move, adopts the brushless centrifugal fan of direct current in order to match the power supply condition.
Due to the limitations of the body structure and the working environment of the snake-like arm robot, when the device 10 of the present embodiment is used as an end effector, its maximum diameter cannot exceed the diameter of the robot body 100, its maximum length cannot exceed the single-link length of the robot body 100, and its maximum weight cannot exceed the end load limit of the robot.
Preferably, the fixedly-connected bracket 1 of the present embodiment includes:
a holder housing 101;
a fixed seat 102 formed at one end of the bracket shell 101 close to the robot body 100;
a plurality of bolt holes are distributed on the fixed seat 102 along the circumferential direction thereof, and the fixed connection bracket 1 and the robot body 100 are assembled and fixed through bolts;
the middle part of the fixed seat 102 is provided with an air suction channel 106 communicated with the air channel pipeline 12;
the lower portion of the fixed base 102 has a female connector base 105.
Next, the upper structure 103 of the rack housing 101 described above extends in the horizontal direction;
the upper structure 103 and the quick-change sucker 2 are matched to form an inserting part 109;
a locking structure is arranged in the middle of the upper structure 103, and the quick-change suction head 2 is fixedly inserted into the fixedly-connected bracket 1 and locked by the locking structure;
the end of the upper structure 103 away from the holder 102 has a vision lens holder 104.
Firstly, the present embodiment defines the structure of the fixed connection bracket 1 in detail, which is used as a connection structure of the quick-change suction head 2 and a single end of the robot body 100, the fixed seat 102 can be assembled and fixed with the single end through a plurality of bolts, and the quick-change suction head 2 is assembled with the fixed connection bracket 1 in a plugging manner and locked by using a locking structure.
The fixedly-connected bracket 1 of the embodiment integrates devices to be fixedly connected with the robot body 100 through different fixing seats 102 installed on the bracket, and is used as a fixing device for the end of a line, such as an air channel pipeline 12, a signal line and the like, passing through the robot body 100. It supports the entire end effector, and a part of the structure can be fixedly connected to the robot body 100 without quick change, for example, the above-mentioned vision lens fixing seat 104 is a vision lens installed for detecting and positioning. Whereas the quick-change pipette tip 2 of the present embodiment mainly fulfills the function of an end effector.
Preferably, the quick-change tip 2 of the present embodiment comprises:
assembling and fixing a quick-change sucker upper piece structure 201 and a quick-change sucker lower piece structure 202;
the space inside the quick-change suction head lower piece structure 202 close to one side of the fixed seat 102 is configured as a collection bin 204, and a collection bin end cover 207 is arranged at one end of the quick-change suction head lower piece structure 202, which is assembled with the fixed seat 102;
the interior of one end of the quick-change sucker upper piece structure 201 and one end of the quick-change sucker lower piece structure 202, which are far away from the fixing seat 102, are formed into a surplus passage 203, and the outmost end of the surplus passage 203 is a suction inlet 205;
the two sides of the quick-change tip upper piece structure 201 in the width direction extend in a bending manner, and the quick-change tip upper piece structure 201 is formed into an insertion channel 209 matched with the insertion part 109 through the bending structures 208 on the two sides.
In order to solve the problem of negative pressure loss, two sets of supercharging blades 206 are symmetrically arranged at one end of the excess flow channel 203 close to the suction port 205, and the space between the two sets of supercharging blades 206 is an excess suction space;
the pressurizing vanes 206 are passively rotated by the gas in the excess path 203 to drive the excess into the gas path 203.
The suction to the excess is increased by two sets of passively rotating supercharging vanes 206.
In order to realize quick locking and dismantling of quick change suction head 2 and solid support 1, the locking structure of this embodiment includes:
a lock plate channel 107 extending circumferentially along the upper structure 103; and
a locking tab 108 located within the locking tab channel 107;
the end of the bent structure 208 of the quick-change tip upper plate structure 201 is provided with a locking plate groove 210 capable of accommodating the locking plate 108.
Preferably, the middle of the end of the quick-change suction head 2, which is matched with the fixed seat 102, is provided with a matching hole 211 of a suction channel;
between the suction channel engagement hole 211 and the retentate channel 203 there is an obliquely arranged screen 212, and the retentate is guided into the collection chamber 204 by the inclined surface of the screen 212.
In order to avoid the backflow of the excess into the excess channel 203, the collecting bin 204 of the present embodiment has a stepped structure 213 therein.
In operation, the pressurizing vanes 2063 begin to rotate passively due to the differential pressure between the interior and the exterior of the tip, thereby increasing the differential pressure at the suction inlet 205 and further increasing the suction force. Meanwhile, the rotation of the pressurizing blade 206 can also shift the excess into the excess channel 203 of the suction head, so as to effectively prevent the excess from being blocked at the suction port, and the excess is blocked by the inclined plane at the filter screen 212 after entering the air channel of the suction head and is drawn into the collection bin 204 at the rear side along the inclined plane for collection, thereby completing a process of sucking the excess.
In the embodiment, the step structure 213 is designed in the collection bin 204, so that the backflow of the excess can be effectively prevented, the tail part of the collection bin is provided with the collection bin end cover 207, and after one round of suction is finished, the suction head can be quickly replaced and the end cover can be opened to pour out the excess in the collection bin, so that the suction head can be reused.
In the technical scheme, the device for sucking the excess at the tail end of the snake-shaped arm robot, provided by the invention, has the following beneficial effects:
the device for sucking and removing the excess materials is used for removing light and small excess materials with irregular shapes in a narrow space by adopting a negative pressure principle, and simultaneously, the working capacity of sucking and removing the air channel pipeline 12 with a slender structure is ensured by adopting the design of the pressurizing blades 206 and the collecting bin 204 positioned at the tail end of the robot.
The end effector in the device adopts a quick-change structure, which not only facilitates the disassembly and assembly of the end effector and the post-processing of redundant materials, but also provides a design template and a unified interface for other end effectors with different functions.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and are not to be construed as limiting the scope of the invention.
Claims (8)
1. An excess material removing apparatus for an end of a serpentine arm robot, the excess material removing apparatus (10) being mounted to the end of the serpentine arm robot, characterized in that the excess material removing apparatus (10) comprises:
the fixed connection support (1) is assembled and fixed on a single section of the tail end of a robot body (100) of the snake-shaped arm robot; and
the quick-change suction head (2) is fixedly assembled with the fixedly-connected bracket (1), a collection bin (204) is formed inside one end, close to the robot body (100), of the quick-change suction head (2), and a surplus passage (203) is formed inside one end, far away from the robot body (100), of the quick-change suction head (2);
the device also includes:
the gas path pipeline (12) is communicated with the excess flow channel (203), the gas path pipeline (12) extends to the front end of the robot body (100) along the extending direction of the robot body (100) and is communicated with a gas source (11) at the front end of the robot body (100);
one end of the quick-change suction head (2), which is far away from the robot body (100), is a suction inlet (205), and surplus objects are sucked by the suction inlet (205) and enter the collection bin (204) through the surplus object channel (203).
2. The device for sucking excess from the end of a snake-like arm robot according to claim 1, wherein the fixing frame (1) comprises:
a holder housing (101);
a fixed seat (102) formed at one end of the bracket shell (101) close to the robot body (100);
a plurality of bolt holes are distributed on the fixed seat (102) along the circumferential direction of the fixed seat, and the fixed connection bracket (1) and the robot body (100) are assembled and fixed through bolts;
the middle part of the fixed seat (102) is provided with an air suction channel (106) communicated with the air channel pipeline (12);
the lower part of the fixed seat (102) is provided with a contact connector female seat (105).
3. A device for sucking off excess at the end of a snake-like arm robot as claimed in claim 2, wherein the upper structure (103) of the frame housing (101) extends in a horizontal direction;
the upper structure (103) and the quick-change sucker (2) are matched to form an insertion part (109);
a locking structure is arranged in the middle of the upper structure (103), and the quick-change sucker (2) is fixedly inserted into the fixedly-connected bracket (1) and locked by the locking structure;
and a visual lens fixing seat (104) is arranged at the end part of one end of the upper structure (103) far away from the fixing seat (102).
4. Device according to claim 3, characterized in that said quick-change suction head (2) comprises:
assembling and fixing an upper piece structure (201) of the quick-change sucker and a lower piece structure (202) of the quick-change sucker;
the space inside one side of the quick-change sucker lower piece structure (202) close to the fixed seat (102) is configured as the collection bin (204), and one end of the quick-change sucker lower piece structure (202) assembled with the fixed seat (102) is provided with a collection bin end cover (207);
the inner parts of the quick-change sucker upper piece structure (201) and the quick-change sucker lower piece structure (202) far away from one end of the fixed seat (102) are formed into the excess channel (203), and the outermost end of the excess channel (203) is the suction port (205);
the two sides of the quick-change sucker upper piece structure (201) in the width direction extend in a bending mode, and the quick-change sucker upper piece structure (201) is formed into an inserting channel (209) matched with the inserting part (109) through the bending structures (208) on the two sides.
5. The device for sucking the excess at the end of the snake-shaped arm robot as claimed in claim 4, wherein the excess channel (203) is provided with two sets of pressurizing blades (206) symmetrically at one end close to the suction port (205), and the space between the two sets of pressurizing blades (206) is the excess suction space;
the plenum blade (206) is passively rotated by gas within the retentate channel (203) to drive retentate into the retentate channel (203).
6. A device for sucking excess on the end of a snake-shaped arm robot as claimed in claim 4, wherein said locking structure comprises:
a lock plate channel (107) extending circumferentially along the superstructure (103); and
a locking tab (108) located within the locking tab channel (107);
the end part of the bending structure (208) of the quick-change sucker upper piece structure (201) is provided with a locking piece groove (210) capable of accommodating the locking piece (108).
7. The device for sucking the excess at the end of the snake-shaped arm robot is characterized in that the middle of the end, matched with the fixed seat (102), of the quick-change sucker (2) is provided with a suction channel matching hole (211);
the suction channel matching hole (211) and the surplus channel (203) are provided with obliquely arranged screens (212), and surplus is guided into the collection bin (204) through the inclined surfaces of the screens (212).
8. The device for sucking off the excess at the end of a snake-shaped arm robot as claimed in claim 7, wherein the collecting bin (204) has a step structure (213) therein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210878728.9A CN115194743A (en) | 2022-07-25 | 2022-07-25 | A surplus thing suction device for snakelike arm robot is terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210878728.9A CN115194743A (en) | 2022-07-25 | 2022-07-25 | A surplus thing suction device for snakelike arm robot is terminal |
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| CN115194743A true CN115194743A (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210878728.9A Pending CN115194743A (en) | 2022-07-25 | 2022-07-25 | A surplus thing suction device for snakelike arm robot is terminal |
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| CN215543358U (en) * | 2020-08-20 | 2022-01-18 | 清洁管理股份有限公司 | Particle collection apparatus and cleaning system |
| CN112976040A (en) * | 2021-03-04 | 2021-06-18 | 内蒙古工业大学 | Terminal quick change device of rotary electromagnetic control claw type robot |
| CN215272437U (en) * | 2021-06-21 | 2021-12-24 | 浙江德硕电器有限公司 | Dust collector head and dust collector |
| CN216628355U (en) * | 2021-12-17 | 2022-05-31 | 苏州德莱电器有限公司 | Portable surface cleaning device |
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