CN115781713B - Mechanical arm for transplanting upright posts - Google Patents
Mechanical arm for transplanting upright posts Download PDFInfo
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- CN115781713B CN115781713B CN202211586764.4A CN202211586764A CN115781713B CN 115781713 B CN115781713 B CN 115781713B CN 202211586764 A CN202211586764 A CN 202211586764A CN 115781713 B CN115781713 B CN 115781713B
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- 210000000078 claw Anatomy 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000010009 beating Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 8
- 238000005406 washing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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Abstract
The invention relates to a manipulator, in particular to a manipulator for transplanting an upright post, which comprises an X-axis moving assembly, a Z-axis lifting assembly and a manipulator assembly, wherein the middle part of the Z-axis lifting assembly is movably connected with an X-axis sliding block of the X-axis moving assembly, the manipulator assembly is arranged at the bottom end of the Z-axis lifting assembly, a base fixedly connected with the bottom end of the Z-axis lifting assembly is arranged on the manipulator assembly, a material taking claw is rotatably connected onto the base, two semicircular clamping pieces are arranged on the material taking claw, an anti-slip piece is arranged on the clamping pieces to clamp the upright post, and a motor for driving the material taking claw to rotate is arranged on the base. According to the manipulator, columnar stand columns in different shapes can be obtained through the two clamping pieces, and due to the fact that the anti-slip piece is arranged on the clamping pieces, when the rotation moment is applied to the stand columns, the stand columns can be prevented from slipping, and the installation effect is improved; the device can accomplish the installation of buckle automatically, need not to spend the cost of labor, work efficiency is high.
Description
Technical Field
The invention relates to a manipulator, in particular to a manipulator for transplanting an upright post.
Background
When the washing machine is used for washing clothes, the clothes with various characteristics and sizes need to be washed, some clothes are easy to intertwine, such as shirt pants, bedsheets and quilt covers, and some clothes have very large sizes, such as carpets, curtains and the like. In order to prevent clothes from winding, the middle part of the pulsator body of the washing machine is generally heightened to form a raised upright post, the clothes are pushed to the periphery during washing, the winding of the clothes is reduced, as shown in fig. 1 and 2, a buckle structure is arranged between the upright post 100 and the pulsator 200 of the washing machine, in the automatic production process, the upright post is transplanted, usually, a mechanical arm takes the upright post from a material taking table to a designated position, then the connection of the upright post buckle is manually completed, the buckle is connected by inserting a clip 101 into a clamping groove 201 for rotation, and the efficiency is difficult to be ensured due to the large labor intensity of long-time work. Therefore, the development of the manipulator for transplanting the upright posts has very important significance.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the manipulator for transplanting the stand column, which can obtain the columnar stand columns with different shapes through the two clamping pieces, and the anti-slip piece is arranged on the clamping pieces, so that the stand column can be prevented from slipping when the rotation moment is applied to the stand column, and the installation effect is improved; the device can accomplish the installation of buckle automatically, need not to spend the cost of labor, work efficiency is high.
In order to solve the problems, the following technical scheme is adopted:
this manipulator for stand transplanting, including X axle movable part, Z axle lifting part and manipulator subassembly, Z axle lifting part's middle part with X axle slider swing joint of X axle movable part, the manipulator subassembly is established Z axle lifting part's bottom, have on the manipulator subassembly with Z axle lifting part's bottom fixed connection's base, rotate on the base and be connected with the material claw, the clamping piece that has two semicircle forms on the material claw, set up on the clamping piece and prevent beating the slider, the clamping piece utilizes and prevents skidding the tight stand of piece clamp, is equipped with the rotatory motor of drive material claw on the base.
The novel electric motor is characterized in that a groove with a downward opening is formed in the base, a rotating table is arranged at the bottom of the groove, a guide seat is fixedly arranged at the bottom of the rotating table, a rack is transversely arranged at the top end of the clamping piece, a first gear is arranged in the middle of the rotating table, the rack is located on two sides of the first gear and is meshed with the first gear, an output shaft of the motor vertically extends into the groove, and the output shaft of the motor is connected with the first gear through a first linkage assembly in a transmission mode.
The groove is internally provided with a second gear and a second linkage assembly, the second gear is connected with an output shaft of the motor, and the second gear is in transmission connection with the rotating table through the second linkage assembly.
The guide seat is internally provided with a round groove for installing a first gear and two strip-shaped grooves which are communicated left and right and used for sliding and placing racks, the first linkage assembly comprises a rotating rod connected with the center of the first gear, the top end of the rotating rod is fixedly connected with a first telescopic motor, the telescopic end of the first telescopic motor is provided with a spline head, the bottom of an output shaft of the motor is provided with a spline groove connected with the spline head, and the spline head is inserted into the spline groove so as to transmit power between the motor and the rotating rod.
The second linkage assembly comprises a second telescopic motor, an output shaft of the second telescopic motor is arranged towards the second gear, a clamping block is arranged on the output shaft of the second telescopic motor, and a clamping groove for inserting the clamping block is formed in the second gear.
The rotary table is characterized in that the rotary table is internally hollowed, the middle part of the rotary rod is rotatably arranged on the bottom end face of the inner side of the rotary table, the top of the rotary table is provided with a yielding port for the rotary rod, the fixed part of the telescopic motor I is positioned below the yielding port, the spline head of the telescopic motor I upwards extends out of the yielding port, the motor is erected on the upper part of the base through a bearing frame, a notch is formed in the base, and an output shaft of the motor downwards penetrates through the notch to extend into the notch and be positioned above the yielding port.
The anti-slip part comprises air bags which are vertically arranged on the inner side of the clamping piece.
The upper surface of the rotating table is provided with a guide mounting seat corresponding to the second telescopic motor, the guide mounting seat is provided with a sliding block, and the sliding block is fixedly arranged between the second telescopic motor and the clamping block.
The X-axis moving assembly comprises an X-axis supporting plate, an X-axis electric screw rod is arranged on the X-axis supporting plate, the X-axis sliding block is in sliding connection with the X-axis supporting plate, one end of the X-axis electric screw rod penetrates through the X-axis sliding block and is in threaded connection with the X-axis sliding block, the Z-axis lifting assembly comprises a Z-axis electric screw rod connected with the X-axis sliding block, one end of the Z-axis electric screw rod vertically penetrates through a top seat upwards, a plurality of Z-axis guide rods are arranged between the top seat and the base, guide holes in sliding fit with the Z-axis guide rods are formed in the X-axis sliding block, and the Z-axis electric screw rod is in threaded connection with the top seat.
And a guide groove corresponding to the Z-axis guide rod is formed in the X-axis support plate along the X-axis direction.
By adopting the scheme, the method has the following advantages:
the manipulator for transplanting the stand column comprises the X-axis moving assembly, the Z-axis lifting assembly and the manipulator assembly, the X-axis moving assembly and the Z-axis lifting assembly can ensure that the manipulator assembly can take and put the stand column on a platform, the manipulator assembly comprises the taking claw, two clamping pieces are arranged on the taking claw, the clamping pieces clamp the stand column, an anti-slip piece is arranged at the same time, the stand column is prevented from slipping in the process of rotating the stand column, the installation effect is improved, the clamping pieces clamp the stand column from two sides, and the stand columns with different shapes can be matched with the anti-slip piece, so that the manipulator has a good use effect.
Drawings
FIG. 1 is a schematic structural view of a conventional upright;
FIG. 2 is a schematic diagram of a conventional pulsator;
FIG. 3 is a schematic diagram of the overall structure of the present invention;
FIG. 4 is a schematic diagram of the front view structure of the present invention;
FIG. 5 is a schematic diagram of a front view of a manipulator assembly according to the present invention;
FIG. 6 is a schematic top view of the take-off pawl of FIG. 5;
FIG. 7 is an enlarged schematic view of the structure shown at A in FIG. 5;
fig. 8 is a schematic structural diagram of a second gear.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
the manipulator for transplanting the stand column shown in fig. 3-8 comprises an X-axis moving assembly, a Z-axis lifting assembly and a manipulator assembly, wherein the middle part of the Z-axis lifting assembly is movably connected with an X-axis sliding block 2 of the X-axis moving assembly, the manipulator assembly is arranged at the bottom end of the Z-axis lifting assembly, the manipulator assembly can be ensured to take and place the stand column on a platform through the X-axis moving assembly and the Z-axis lifting assembly, a base 3 fixedly connected with the bottom end of the Z-axis lifting assembly is arranged on the manipulator assembly, a material taking claw is rotationally connected onto the base 3, two semicircular clamping pieces 9 are arranged on the material taking claw, the clamping pieces 9 are clamped from two sides of the stand column, a motor 10 drives the material taking claw to rotate along with the stand column, an anti-slip piece 26 is arranged on the clamping pieces 9, and when the material taking claw is used for installing the stand column, the material taking claw can be prevented from slipping of the stand column and the installation effect of a wave wheel is ensured. The shape of the upright post is generally a circular or triangular column, the upright posts with different shapes can be easily adapted through the clamping piece 9, and the installation of the upright post is realized by stably rotating the upright post through the anti-slip piece 26. Therefore, the device can automatically complete the installation of the buckle without spending labor cost, and has high working efficiency.
Further, in this embodiment, as shown in fig. 5, the base 3 is provided with a groove 301 with a downward opening, the bottom of the groove 301 is provided with a rotating table 12, the rotating table 12 can be installed in the groove 301 through a rotating connecting piece such as a bearing, the bottom of the rotating table 12 is fixedly provided with a guide seat 17, the top end of the clamping piece 9 is transversely provided with a rack 25, specifically, the guide seat 17 is internally provided with a circular groove 1301 for installing the gear one 13 and two bar grooves 1302 penetrating left and right for sliding the rack 25, the linkage assembly one comprises a rotating rod 14 connected with the center of the gear one 13, the top end of the rotating rod 14 is fixedly connected with a telescopic motor one 15, the telescopic end of the telescopic motor one 15 is provided with a spline head 16, the bottom of the output shaft of the motor 10 is provided with a spline groove connected with the spline head 16, and the spline head 16 is inserted into the spline groove so as to transmit power between the motor 10 and the rotating rod 14. The middle part of the rotating table 12 is provided with a first gear 13, the racks 25 are positioned on two sides of the first gear 13, and meanwhile, the racks 25 and the first gear 13 are in a meshed state, and it is to be noted that the clamping pieces 9 are connected with the racks 25, and the two clamping pieces 9 are symmetrically arranged, so that when the first gear 13 rotates, the stroke of the racks 25 is guaranteed to be the same, the clamping effect is better, the condition of loosening and tightening is not caused, an output shaft of the motor 10 vertically extends in the groove 301, and an output shaft of the motor 10 is in transmission connection with the first gear 13 through the linkage assembly. The groove 301 is internally provided with a second gear 18 and a second linkage assembly, the second gear 18 is connected with the output shaft of the motor 10, and the second gear 18 is in transmission connection with the rotating table 12 through the second linkage assembly.
Further, as shown in fig. 5 and 8, the second linkage assembly specifically includes four groups of second telescopic motors 19, the output shaft of the second telescopic motors 19 is disposed towards the second gear 18, a clamping block 21 is disposed on the output shaft of the second telescopic motors 19, four clamping grooves 23 for inserting the clamping block 21 are formed in the second gear 18, the clamping block 21 is connected with the clamping grooves 23 on the second gear 18 under the pushing of the second telescopic motors 19, the power of the motor 10 is output through the second linkage assembly, the rotating table 12 can rotate, and the rotation of the material taking claw fixedly connected with the rotating table 12 is achieved, so that the rotation of the clamping buckle at the bottom of the upright post and the rotation of the clamp when the clamping buckle is connected is completed.
Further, as shown in fig. 7, in order to improve the strength of the clamping block 21, the motor 10 can maintain the stability of the connection part in the second linkage assembly when the second linkage assembly drives the rotating table 12 to rotate, a guiding mounting seat 24 corresponding to the second telescopic motor 19 is arranged on the upper surface of the rotating table 12, a sliding block 20 is arranged on the guiding mounting seat 24, the sliding block 20 is fixedly arranged between the second telescopic motor 19 and the clamping block 21, and most of torque is borne by the sliding block 20 and the guiding mounting seat 24 in the rotating process, so that the second telescopic motor 19 cannot be damaged.
The inside fretwork of rolling table 12, the middle part of dwang 14 passes through the bearing and rotates and install on rolling table 12 inboard bottom end face, and the lower extreme of dwang 14 stretches into in the guide mount pad 24 and is connected with the center of gear one 13, and rolling table 12's top is equipped with the mouth of stepping down that is used for dwang 14, the fixed part of flexible motor one 15 is located the mouth below of stepping down, and the spline head 16 of flexible motor one 15 upwards stretches out the mouth of stepping down, motor 10 establishes in base 3 upper portion through carrier 11, has the breach on the base 3, and motor 10's output shaft passes the breach downwards and stretches in recess 301 and be located the top of stepping down the mouth.
Example 2:
in this embodiment, as shown in fig. 5 and fig. 6, the other parts are the same as those described in embodiment 1, the anti-slip member 26 may be an air bag vertically arranged inside the clamping piece 9, a layer of anti-slip rubber is covered on the surface of the air bag, after the clamping piece 9 clamps the upright post, the clamping piece 9 extrudes the air bag and tightly attaches the air bag to the upright post, so as to avoid slipping of the material taking claw when rotating the upright post, in addition, the tighter the air bag arranged inside the clamping piece 9, the better the suitability for the upright post with an irregular shape is, and the good fixing effect can be realized by compressing and deforming one or more air bags with the upright post itself in different directions.
In the invention, as shown in fig. 3 and 4, the X-axis moving assembly comprises an X-axis supporting plate 1, an X-axis electric screw rod 7 is arranged on the X-axis supporting plate 1, the X-axis sliding block 2 is slidably connected with the X-axis supporting plate 1, one end of the X-axis electric screw rod 7 passes through the X-axis sliding block 2 and is in threaded connection with the X-axis sliding block 2, the Z-axis lifting assembly comprises a Z-axis electric screw rod 6 connected with the X-axis sliding block 2, one end of the Z-axis electric screw rod 6 vertically passes through a top seat 4 upwards, a plurality of Z-axis guide rods 5 are arranged between the top seat 4 and a base 3, guide holes which are slidably matched with the Z-axis guide rods 5 are arranged on the X-axis sliding block 2, and the Z-axis electric screw rod 6 is in threaded connection with the top seat 4. The Z-axis electric screw rod 6 is started, and the top seat 4 can move upwards or downwards, so that the material taking claw is driven to move up and down.
The X-axis support plate 1 is provided with a guide groove corresponding to the Z-axis guide rod 5 along the X-axis direction. In order to facilitate the realization that the X-axis moving component and the Z-axis lifting component do not interfere, the X-axis supporting plate 1 is provided with a guide groove corresponding to the Z-axis guide rod 5 along the X-axis direction. When the X-axis slider 2 moves along the X-axis, the Z-axis guide bar 5 moves in the guide groove.
Example 3:
in this embodiment, the other components are the same as those described in embodiment 1, and as shown in fig. 4, a telescopic device is disposed on the X-axis sliding block 2, and the telescopic device may be one of an electric push rod, a telescopic cylinder or a telescopic hydraulic cylinder, in this embodiment, the bottom end of the telescopic device is fixedly connected with the top surface of the X-axis sliding block 2, and the top end of the telescopic device is fixedly connected with the bottom surface of the top seat 4. And starting the telescopic device, stretching the telescopic device to drive the material taking claw to move upwards, and retracting the telescopic device to drive the material taking claw to move downwards so as to realize the up-and-down displacement of the material taking claw along the Z axis.
In the actual use process, the operation efficiency is generally improved through the first linkage component and the second linkage component, and at this time, the first linkage component and the second linkage component have three states:
when the mechanical arm grabs the upright post, the linkage assembly II is in a disconnected state, the first telescopic motor 15 pushes the spline head 16 upwards in the linkage assembly I, the spline head 16 is meshed with the spline groove at the bottom of the output shaft of the motor 10 upwards, so that the transmission of the motor 10 and the first gear 13 is realized through the linkage assembly I, the X-axis electric screw rod 7 is started to drive the Z-axis lifting assembly to transversely move to the upper part of the platform and stop right above the upright post to be grabbed, the Z-axis electric screw rod 6 is started, the material taking claw is driven to move downwards until the top of the upright post enters the material taking claw, the upright post is clamped through the two clamping pieces 9, and the effective grabbing of the material taking claw is ensured by the upright post backward extrusion air bag. After grabbing the upright post, the X-axis electric screw rod 7 and the Z-axis electric screw rod 6 are started again to enter the next working step.
When the mechanical arm needs to insert the stand column into the pulsator, the first linkage assembly is in a disconnected state, the rack 25 is slidably mounted in the guide seat 17, the guide seat 17 can ensure that the material taking claw below the rack does not rotate, so that alignment deviation cannot occur, the second telescopic motor 19 of the second linkage assembly pushes the clamping block 21 to be connected with the clamping groove 23 around the second gear 18, the motor 10 is not started at this time, the Z-axis electric screw 6 and the X-axis electric screw 7,Z shaft electric screw 6 need to be started in sequence, the X-axis electric screw 7 can lift the stand column upwards, the X-axis electric screw 7 transversely moves the stand column and stops right above the pulsator, the Z-axis electric screw 6 descends the stand column, and the clamp at the bottom of the stand column is aligned with the clamp of the pulsator.
When the stand column and the impeller are required to be connected, the first linkage assembly is still in a disconnected state, the clamping block 21 of the second linkage assembly is connected with the clamping groove 23, the motor 10 is started at the moment, the motor 10 is utilized to drive the rotating table 12 to rotate, and the rotating table 12 can drive the rotation of the material taking claw due to the fact that the relative positions of the rotating table 12 and the material taking claw are fixed, so that the clamp of the stand column can rotate for an angle in the clamp, the clamp and the clamp form a locking state, and connection of the stand column and the impeller is completed.
Finally, the material taking claw is required to be disconnected with the upright post, the linkage assembly II is required to be in a disconnected state, the linkage assembly I is in a state of being connected with the motor 10, the motor 10 is started to rotate reversely, and the clamping piece 9 releases the upright post to finish the separation of the material taking claw and the upright post.
To sum up, the manipulator grabs the first pillar and needs to open the first pillar of linkage assembly, needs to open the second pillar of linkage assembly when inserting in the impeller to when connecting pillar and impeller, keep this state, finally, open the first pillar of linkage assembly and get the separation of claw and pillar, through opening the first pillar of linkage assembly twice and opening the second pillar of linkage assembly once and accomplish the whole installation to pillar and impeller, avoided loaded down with trivial details manipulator structure, reduced the operation degree of difficulty, can produce good effect.
The invention adopts automatic butt joint operation for the connection of the upright post and the pulsator of the washing machine, does not need to spend labor cost, has high precision, and is beneficial to the quality and quantity of products.
Claims (8)
1. The utility model provides a manipulator for stand transplanting, includes X axle movable assembly, Z axle lifting unit and manipulator subassembly, Z axle lifting unit's middle part with X axle slider (2) swing joint of X axle movable assembly, the manipulator subassembly is established Z axle lifting unit's bottom, its characterized in that, have on the manipulator subassembly with Z axle lifting unit's bottom fixed connection's base (3), rotate on base (3) and be connected with the material claw, have two semicircular clamping pieces (9) on the material claw, set up on clamping piece (9) and prevent beating slider (26), clamping piece (9) utilize and prevent beating slider (26) to press from both sides tight stand, be equipped with motor (10) that the rotatory is got in the drive material claw on base (3);
the base (3) is provided with a groove (301) with a downward opening, the bottom of the groove (301) is provided with a rotating table (12), the bottom of the rotating table (12) is fixedly provided with a guide seat (17), the top end of the clamping piece (9) is transversely provided with a rack (25), the middle part of the rotating table (12) is provided with a first gear (13), the rack (25) is positioned on two sides of the first gear (13) and is meshed with the first gear (13), an output shaft of the motor (10) vertically extends into the groove (301), and the output shaft of the motor (10) is in transmission connection with the first gear (13) through a first linkage assembly;
the groove (301) is internally provided with a second gear (18) and a second linkage assembly, the second gear (18) is connected with an output shaft of the motor (10), and the second gear (18) is in transmission connection with the rotating table (12) through the second linkage assembly.
2. The manipulator for transplanting the stand column according to claim 1, wherein a round groove (1301) for installing the gear one (13) and two strip-shaped grooves (1302) which are communicated left and right and used for sliding and placing the rack (25) are arranged in the guide seat (17), the first linkage assembly comprises a rotating rod (14) connected with the center of the gear one (13), the top end of the rotating rod (14) is fixedly connected with a first telescopic motor (15), the telescopic end of the first telescopic motor (15) is provided with a spline head (16), the bottom of an output shaft of the motor (10) is provided with a spline groove connected with the spline head (16), and the spline head (16) is inserted into the spline groove so as to transmit power between the motor (10) and the rotating rod (14).
3. The manipulator for transplanting the stand column according to claim 1, wherein the second linkage assembly comprises a second telescopic motor (19), an output shaft of the second telescopic motor (19) is arranged towards a second gear (18), a clamping block (21) is arranged on an output shaft of the second telescopic motor (19), and a clamping groove (23) for inserting the clamping block (21) is formed in the second gear (18).
4. The manipulator for transplanting the stand column according to claim 2, wherein the rotating table (12) is internally hollowed out, the middle part of the rotating rod (14) is rotatably installed on the bottom end face of the inner side of the rotating table (12), a yielding port for the rotating rod (14) is formed in the top of the rotating table (12), the fixed part of the telescopic motor I (15) is located below the yielding port, the spline head (16) of the telescopic motor I (15) extends upwards to the yielding port, the motor (10) is arranged on the upper portion of the base (3) through the bearing frame (11), a notch is formed in the base (3), and an output shaft of the motor (10) downwards penetrates through the notch to extend into the groove (301) and is located above the yielding port.
5. A manipulator for transplanting of poles according to any of claims 1-4, characterized in that the anti-slip element (26) comprises air bags arranged vertically inside the jaws (9).
6. A manipulator for transplanting a stand column according to claim 3, characterized in that a guide mounting seat (24) corresponding to the second telescopic motor (19) is arranged on the upper surface of the rotating table (12), a sliding block (20) is arranged on the guide mounting seat (24), and the sliding block (20) is fixedly arranged between the second telescopic motor (19) and the clamping block (21).
7. The manipulator for transplanting the stand column according to claim 5, wherein the X-axis moving assembly comprises an X-axis supporting plate (1), an X-axis electric screw rod (7) is arranged on the X-axis supporting plate (1), one end of the X-axis sliding block (2) is slidably connected with the X-axis supporting plate (1), the X-axis electric screw rod (7) penetrates through the X-axis sliding block (2) and is in threaded connection with the X-axis sliding block (2), the Z-axis lifting assembly comprises a Z-axis electric screw rod (6) connected with the X-axis sliding block (2), one end of the Z-axis electric screw rod (6) vertically penetrates through a top seat (4) upwards, a plurality of Z-axis guide rods (5) are arranged between the top seat (4) and a base (3), guide holes which are slidably matched with the Z-axis guide rods (5) are arranged on the X-axis sliding block (2), and the Z-axis electric screw rod (6) is in threaded connection with the top seat (4).
8. The manipulator for transplanting posts according to claim 7, wherein the X-axis support plate (1) is provided with a guide groove corresponding to the Z-axis guide bar (5) along the X-axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211586764.4A CN115781713B (en) | 2022-12-09 | 2022-12-09 | Mechanical arm for transplanting upright posts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211586764.4A CN115781713B (en) | 2022-12-09 | 2022-12-09 | Mechanical arm for transplanting upright posts |
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| Publication Number | Publication Date |
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| CN115781713A CN115781713A (en) | 2023-03-14 |
| CN115781713B true CN115781713B (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211586764.4A Active CN115781713B (en) | 2022-12-09 | 2022-12-09 | Mechanical arm for transplanting upright posts |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936348A (en) * | 2019-12-25 | 2020-03-31 | 温州新兰智能科技有限公司 | Pick-up robot used in warehouse |
| CN213680395U (en) * | 2020-10-12 | 2021-07-13 | 连云港苏科石英制品有限公司 | Cutting device is used in production of electron cigarette glass pipe |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0995555A1 (en) * | 1998-10-15 | 2000-04-26 | Tecan AG | Robot arm |
| CN104552317A (en) * | 2013-10-16 | 2015-04-29 | 李少华 | Manipulator for pipe fittings |
| CN107186533A (en) * | 2017-04-19 | 2017-09-22 | 中煤科工集团西安研究院有限公司 | Drilling rod conveying robot based on truss |
| JP6481791B1 (en) * | 2018-03-23 | 2019-03-13 | 第一精工株式会社 | Electric hand and target object gripping method |
| JP7151166B2 (en) * | 2018-05-18 | 2022-10-12 | セイコーエプソン株式会社 | Grasping device and robot |
| JP7234591B2 (en) * | 2018-11-14 | 2023-03-08 | 富士電機株式会社 | gripping unit |
| CN215618153U (en) * | 2021-09-07 | 2022-01-25 | 上海爱仕达机器人有限公司 | Adjustable mechanical tongs of stroke |
| CN217046412U (en) * | 2021-09-10 | 2022-07-26 | 江门市蓬江区星硕方数控设备有限公司 | Truss manipulator |
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2022
- 2022-12-09 CN CN202211586764.4A patent/CN115781713B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936348A (en) * | 2019-12-25 | 2020-03-31 | 温州新兰智能科技有限公司 | Pick-up robot used in warehouse |
| CN213680395U (en) * | 2020-10-12 | 2021-07-13 | 连云港苏科石英制品有限公司 | Cutting device is used in production of electron cigarette glass pipe |
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| CN115781713A (en) | 2023-03-14 |
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