CN108655688A - A kind of mechanical arm for plank installation - Google Patents
A kind of mechanical arm for plank installation Download PDFInfo
- Publication number
- CN108655688A CN108655688A CN201810492041.5A CN201810492041A CN108655688A CN 108655688 A CN108655688 A CN 108655688A CN 201810492041 A CN201810492041 A CN 201810492041A CN 108655688 A CN108655688 A CN 108655688A
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- China
- Prior art keywords
- fixed
- plate
- far
- fixedly connected
- fixed jaw
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arms for plank installation, including mounting plate, the one end of the mounting plate far from platform sling is fixedly connected with fixed plate, second reducing motors are installed in the fixed plate, the output sleeve of the second reducing motors is equipped with wheel disc, the eccentric part of the wheel disc is rotatably connected to connecting rod, the one end of the connecting rod far from wheel disc is rotatably connected to link, the link is slidably connected in fixed plate, the one end of the fixed plate far from mounting plate is fixedly connected with support plate, first fixed pulley there are two being symmetrically installed in the support plate, the one end of the support plate far from fixed plate is symmetrically fixedly connected there are two the first fixed jaw, the described one end of first fixed jaw far from fixed plate is rotatably connected to the second fixed jaw.Structure of the invention is stablized, and easy to operate, design is scientific and reasonable, with short production cycle, and mechanical arm is convenient for lift adjustment, convenient for engaging to plate.
Description
Technical field
The present invention relates to plate installation manipulator technical field more particularly to a kind of mechanical arms for plank installation.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they are to receive instruction, are precisely positioned to three-dimensional all there are one common feature
（Or two dimension）Certain point spatially carries out operation.Manipulator is a kind of certain holding functions that can imitate human hand and arm, to
By fixed routine crawl, the automatic pilot of carrying object or operation instrument.Feature be can be completed by programming it is various
The advantage of people and robotics respectively is had concurrently in expected operation, construction and performance.Manipulator is the industrial machine occurred earliest
Device people, and the modern machines people that occurs earliest, it can replace the heavy labor of people to realize the mechanization and automation of production,
It can be operated under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atom
The departments such as energy.Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
Part（Or tool）Component, according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape
Formula, such as clamp-type, holding type and absorbent-type.Motion makes hand complete various rotations（It swings）, mobile or compound motion
It realizes defined action, changes by the position of grasping object and posture.Motion such as lifts, stretches, rotating at the independent fortune
Flowing mode, the referred to as degree of freedom of manipulator.In order to capture the object of any position and orientation in space, there need to be 6 degree of freedom.From
It is the key parameter of manipulator design by degree.Degree of freedom is more, and the flexibility of manipulator is bigger, and versatility is wider, structure
It is more complicated.General special manipulator has 2~3 degree of freedom.Control system is by the motor to each degree of freedom of manipulator
Control, to complete specific action.Receiving sensor feedack simultaneously, forms stable closed-loop control.The core of control system
The heart is typically to be made of microcontroller chips such as microcontroller or dsp, and wanted function is realized by being programmed to it.
Type of drive can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical.Feature is can be completed respectively by programming
The advantage of people and robotics respectively is had concurrently in operation expected from kind, construction and performance.
In the industries such as glass door frame, by glass be packed into frame making in terms of, existing technology be using manually or
It is the flexible clamping device of lifting platform.The shape and weight of present plate are different, especially the popularization of large-sized sheet material and irregular small
Large-scale use and the popularization of based plate etc. are so that the difficult increasing that operates by hand with devices such as lifting platforms, efficiency is low, product
Assembling quality be difficult to control, or even safe and smooth complete the production can not be completed.Random device man-based development, more and more machines
Human arm is applied in industries such as glass door frames.It usually needs to use large-sized sheet material in some special occasions, ordinary robot can not
Realize this function；Single robot arm use cost is excessively high during the use of tiny plank, does not obtain universal
Use, lack in the prior art clamping glass mounting plates material mechanical arm.
Invention content
The problem of the purpose of the present invention is to solve the mechanical arms for lacking clamping glass mounting plates material in the prior art,
And a kind of mechanical arm for plank installation proposed.
To achieve the goals above, present invention employs following technical solutions：
A kind of mechanical arm for plank installation, including mounting plate, the one end of the mounting plate far from platform sling are fixedly connected with
Fixed plate is equipped with second reducing motors in the fixed plate, and the output sleeve of the second reducing motors is equipped with wheel disc, described
The eccentric part of wheel disc is rotatably connected to connecting rod, and the one end of the connecting rod far from wheel disc is rotatably connected to link, the link
It is slidably connected in fixed plate, the one end of the fixed plate far from mounting plate is fixedly connected with support plate, right in the support plate
Claim installation there are two the first fixed pulley, the one end of the support plate far from fixed plate is symmetrically fixedly connected with that there are two first to fix
Pawl, the described one end of first fixed jaw far from fixed plate are rotatably connected to the second fixed jaw, and first fixed jaw and second are consolidated
Determine pawl one end close to each other and be fixedly connected with brute spring jointly, the second fixed pulley, institute are installed on first fixed jaw
It states and is fixedly connected with rope body on the second fixed jaw.
Preferably, the described rope one end of body far from the second fixed jaw passes through the second fixed pulley and the first fixed pulley to be fixedly connected
On link.
Preferably, the output shaft of the second reducing motors is coupled by flat key with wheel disc interference fit.
Preferably, T-slot is offered in the fixed plate, and T-block, and T-slot and T are fixedly connected on the link block
Type block is slidably connected.
Preferably, the described one end of second fixed jaw far from the first fixed jaw uses pyramidal structure.
In the present invention, in use, opening second reducing motors, the output shaft of second reducing motors drives connection fixed thereto
Wheel disc rotation, wheel disc rotation after drive rotationally connected link rotatable, driven after link rotatable rotationally connected
Link moves, and since link is slidably connected in fixed plate, can only realize that linear motion up and down, link pull rope
Body moves, and passes through the first fixed pulley and the second fixed pulley that the movement of the second fixed jaw, the second fixed jaw is pulled to open after rope body movement
Plank is engaged afterwards.Structure of the invention is stablized, and easy to operate, design is scientific and reasonable, with short production cycle, and mechanical arm is convenient for
Lift adjustment, convenient for engaging to plate.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of mechanical arm for plank installation proposed by the present invention；
Fig. 2 is that the present invention is applied to a kind of structural schematic diagram of fully-automatic plate installation manipulator device；
Fig. 3 is the first cart part-structure schematic diagram that the present invention is applied to a kind of fully-automatic plate installation manipulator device；
Fig. 4 is the second cart part-structure schematic diagram that the present invention is applied to a kind of fully-automatic plate installation manipulator device.
In figure：1 plate transmission device, 2 first carts, 3 pedestals, 4 buffering walking mechanisms, 5 serrated slots, 6 portal frames, 7 the
One decelerating motor, 8 platform slings, 9 slide bars, 10 lead screws, 11 mechanical arms, 12 support columns, 13 trolley racks, 14 second carts, 15 installations
Plate, 16 fixed plates, 17 wheel discs, 18 T-slots, 19 connecting rods, 20 links, 21 rope bodies, 22 first fixed pulleys, 23 support plates, 24 the
One fixed jaw, 25 second fixed jaws, 26 second fixed pulleys, 27 brute springs, 28 gaskets.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term "upper", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " the cover ", " embedded ", " connection ", " fixation ",
Terms such as " distributions " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with
It is mechanical connection, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly.For the common of this field
For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Embodiment 1：Referring to Fig.1, a kind of mechanical arm for plank installation, including mounting plate 15, mounting plate 15 are separate
One end of platform sling 8 is fixedly connected with fixed plate 16, and second reducing motors, the output of second reducing motors are equipped in fixed plate 16
Axle sleeve is equipped with wheel disc 17, and the output shaft of second reducing motors is coupled by flat key with the interference fit of wheel disc 17, interference fit connection
Simple for process, the eccentric part of stable connection, wheel disc 17 is rotatably connected to connecting rod 19, and one end rotation of the connecting rod 19 far from wheel disc 17 connects
It is connected to link 20, link 20 is slidably connected in fixed plate 16, offers T-slot 18 in fixed plate 16, on link block 20
It is fixedly connected with T-block, and T-slot 18 is slidably connected with T-block, T-slot is easily installed, stable connection, and fixed plate 16 is separate
One end of mounting plate 15 is fixedly connected with support plate 23, is symmetrically installed in support plate 23 there are two the first fixed pulley 22, support plate
23 one end far from fixed plate 16 are symmetrically fixedly connected there are two the first fixed jaw 24, and the first fixed jaw 24 is far from fixed plate 16
One end is rotatably connected to the second fixed jaw 25, and the one end of the second fixed jaw 25 far from the first fixed jaw 24 uses pyramidal structure, cone
Shape structure is fixedly connected with brute spring jointly convenient for engaging, the first fixed jaw 24 and the second fixed jaw 25 one end close to each other
27, the second fixed pulley 26 is installed on the first fixed jaw 24, rope body 21 is fixedly connected on the second fixed jaw 25, rope body 21 is separate
One end of second fixed jaw 25 passes through the second fixed pulley 26 and the first fixed pulley 22 to be fixedly connected on link 20.
Embodiment 2：Referring to Fig.1-4, apply the present invention to a kind of fully-automatic plate installation manipulator device, including plate
Transmission device 1, portal frame 6, the first cart 2 and the second cart 14, the first cart 2 include using bottom made of integrated formed structure
Seat 3 and backrest, the upper end of pedestal 3 offer multiple serrated slots 5, and the bottom end of pedestal 3 is equipped with multiple buffering walking mechanisms 4, bottom
The lower end of seat 3 slidably connects multiple limited posts, and the lower end of limited post is equipped with turning rolls, bullet is equipped between turning rolls and pedestal 3
Spring damper is rotatably connected to scroll wheel on every group of turning rolls, and anti-skid chequer is equipped on each scroll wheel, buffers walking mechanism
4 setting can prevent glass to be damaged with bumper and absorbing shock, and the second cart 14 includes bottom plate and support column 12, and the lower end of bottom plate is pacified
Equipped with multiple traveling wheels, the upper end of support column 12 is fixedly connected with trolley rack 13, equidistant solid on the both sides inner wall of trolley rack
Surely it is connected with gasket 28, the setting of gasket 28 can generate gap, engage convenient for mechanical arm；
First reducing motors 7 are installed, portal frame 6 is horizontal successively from top to bottom to be equipped with slide bar 9 and lead screw 10, slides on portal frame 6
The both ends of bar 9 are fixedly connected on portal frame 6, and one end of lead screw 10 is rotatably connected on portal frame 6, the other end of lead screw 10
It is fixedly connected with the output shaft of first reducing motors 7, platform sling 8 is threaded on lead screw 10, and platform sling 8 connects with the sliding of slide bar 9
It connects, nut and linear bearing is installed on platform sling 8, platform sling 8 is threadedly coupled by nut with lead screw 10, and platform sling 8 passes through linear axis
It holds and is slidably connected with slide bar 9, linear bearing is easily installed, and mechanical efficiency is high, and the lower end of platform sling 8 is equipped with mechanical arm 11, machine
Tool arm 11 includes mounting plate 15, and the one end of mounting plate 15 far from platform sling 8 is fixedly connected with fixed plate 16；
Second reducing motors are installed, the output sleeve of second reducing motors is equipped with wheel disc 17, the second deceleration electricity in fixed plate 16
The output shaft of machine is coupled by flat key with the interference fit of wheel disc 17, and interference fit connecting process is simple, stable connection, wheel disc 17
Eccentric part is rotatably connected to connecting rod 19, and the one end of connecting rod 19 far from wheel disc 17 is rotatably connected to link 20, and link 20 slides
It is connected in fixed plate 16, T-slot 18 is offered in fixed plate 16, T-block, and T-slot 18 are fixedly connected on link block 20
It is slidably connected with T-block, T-slot is easily installed, stable connection, and the one end of fixed plate 16 far from mounting plate 15 is fixedly connected with branch
Fagging 23 is symmetrically installed in support plate 23 there are two the first fixed pulley 22, and the one end of support plate 23 far from fixed plate 16 is symmetrically solid
There are two the first fixed jaws 24 for fixed connection, and first one end of fixed jaw 24 far from fixed plate 16 is rotatably connected to the second fixed jaw
25, the one end of the second fixed jaw 25 far from the first fixed jaw 24 uses pyramidal structure, and pyramidal structure is convenient for engaging, the first fixed jaw
24 and second the one end close to each other of fixed jaw 25 be fixedly connected with brute spring 27 jointly, is equipped on the first fixed jaw 24
Two fixed pulleys 26, are fixedly connected with rope body 21 on the second fixed jaw 25, and the one end of rope body 21 far from the second fixed jaw 25 passes through the
Two fixed pulleys 26 and the first fixed pulley 22 are fixedly connected on link 20.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating currents, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
Second cart 14 in use, is shifted onto the lower section of portal frame 6 by the present invention, then, opens second reducing motors, and second
The output shaft of decelerating motor drives the wheel disc 17 of connection fixed thereto to rotate, and wheel disc 17 drives rotationally connected company after rotating
Bar 19 rotates, and connecting rod 19 drives rotationally connected link 20 to move after rotating, since link 20 is slidably connected at admittedly
On fixed board 16, therefore it can only realize linear motion up and down, link 20 pulls rope body 21 to move, and rope body 21 passes through first after moving
Fixed pulley 22 and the second fixed pulley 26 pull the movement of the second fixed jaw 25, the second fixed jaw 25 to engage to plank after opening,
First reducing motors 7 are then turned on, the output shaft of first reducing motors 7 drives the lead screw 10 of connection fixed thereto to rotate, lead screw
10 drive 8 side-to-side movement of platform sling that is threadedly coupled therewith, similarly, it is to be exercised on plate transmission device 1 when, control second is fixed
Pawl 25 is opened to convey plank.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of mechanical arm for plank installation, including mounting plate（15）, which is characterized in that the mounting plate（15）It is separate
Platform sling（8）One end be fixedly connected with fixed plate（16）, the fixed plate（16）On second reducing motors are installed, described second
The output sleeve of decelerating motor is equipped with wheel disc（17）, the wheel disc（17）Eccentric part be rotatably connected to connecting rod（19）, the company
Bar（19）Far from wheel disc（17）One end be rotatably connected to link（20）, the link（20）It is slidably connected at fixed plate
（16）On, the fixed plate（16）Far from mounting plate（15）One end be fixedly connected with support plate（23）, the support plate（23）
On be symmetrically installed there are two the first fixed pulley（22）, the support plate（23）Far from fixed plate（16）One end be symmetrically fixedly connected
There are two the first fixed jaws（24）, first fixed jaw（24）Far from fixed plate（16）One end be rotatably connected to the second fixation
Pawl（25）, first fixed jaw（24）With the second fixed jaw（25）One end close to each other is fixedly connected with brute spring jointly
（27）, first fixed jaw（24）On the second fixed pulley is installed（26）, second fixed jaw（25）On be fixedly connected with
Rope body（21）.
2. a kind of mechanical arm for plank installation according to claim 1, which is characterized in that the rope body（21）Far
From the second fixed jaw（25）One end pass through the second fixed pulley（26）With the first fixed pulley（22）It is fixedly connected on link（20）
On.
3. a kind of mechanical arm for plank installation according to claim 1, which is characterized in that the second deceleration electricity
The output shaft of machine passes through flat key and wheel disc（17）Interference fit connection.
4. a kind of mechanical arm for plank installation according to claim 1, which is characterized in that the fixed plate（16）
On offer T-slot（18）, the link block（20）On be fixedly connected with T-block, and T-slot（18）It is slidably connected with T-block.
5. a kind of mechanical arm for plank installation according to claim 1, which is characterized in that second fixed jaw
（25）Far from the first fixed jaw（24）One end use pyramidal structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492041.5A CN108655688A (en) | 2018-05-22 | 2018-05-22 | A kind of mechanical arm for plank installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492041.5A CN108655688A (en) | 2018-05-22 | 2018-05-22 | A kind of mechanical arm for plank installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108655688A true CN108655688A (en) | 2018-10-16 |
Family
ID=63777307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810492041.5A Pending CN108655688A (en) | 2018-05-22 | 2018-05-22 | A kind of mechanical arm for plank installation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108655688A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910522A (en) * | 2018-08-21 | 2018-11-30 | 内蒙古民族大学 | A kind of electric automatization grabbing device |
| CN109552150A (en) * | 2018-11-22 | 2019-04-02 | 中铁十四局集团建筑科技有限公司 | A kind of vehicle-mounted precast wall body twin fixed guide-vane device |
| CN110239949A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | A conveying device for easy and fast mobilization of port containers |
| CN110594630A (en) * | 2019-08-22 | 2019-12-20 | 安徽一路明光电科技有限公司 | LED track lamp convenient to install and adjust |
| CN111453404A (en) * | 2020-03-31 | 2020-07-28 | 珠海格力电器股份有限公司 | Rubber box carrying tool |
| CN112027963A (en) * | 2020-09-08 | 2020-12-04 | 武汉市永信新型材料有限公司 | Fragment of brick is placed board and is promoted transport frame |
| CN112497245A (en) * | 2020-12-10 | 2021-03-16 | 重庆理工大学 | Gripper grabbing range-extending device and gripper thereof |
| CN115321172A (en) * | 2022-08-12 | 2022-11-11 | 中国兵器装备集团西南技术工程研究所 | A transport mechanism for heat preservation stove |
| CN116922040A (en) * | 2023-09-18 | 2023-10-24 | 招远市宏润机具制造有限公司 | Pipe wrench assembling equipment |
| CN118061228A (en) * | 2024-04-18 | 2024-05-24 | 广东统一机器人智能股份有限公司 | Flexible multi-angle grabbing manipulator |
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| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN107021354A (en) * | 2017-06-21 | 2017-08-08 | 黄河水利职业技术学院 | Brickmaking station-service unloads brick, stacking, entrucking integrated robot |
| CN108145687A (en) * | 2017-12-29 | 2018-06-12 | 安徽行者智能科技股份有限公司 | A kind of fully-automatic plate installation manipulator device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1601603A1 (en) * | 2003-03-10 | 2005-12-07 | Kahlman Produkter AB | Load transfer device |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN107021354A (en) * | 2017-06-21 | 2017-08-08 | 黄河水利职业技术学院 | Brickmaking station-service unloads brick, stacking, entrucking integrated robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910522A (en) * | 2018-08-21 | 2018-11-30 | 内蒙古民族大学 | A kind of electric automatization grabbing device |
| CN109552150A (en) * | 2018-11-22 | 2019-04-02 | 中铁十四局集团建筑科技有限公司 | A kind of vehicle-mounted precast wall body twin fixed guide-vane device |
| CN110239949A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | A conveying device for easy and fast mobilization of port containers |
| CN110594630A (en) * | 2019-08-22 | 2019-12-20 | 安徽一路明光电科技有限公司 | LED track lamp convenient to install and adjust |
| CN111453404A (en) * | 2020-03-31 | 2020-07-28 | 珠海格力电器股份有限公司 | Rubber box carrying tool |
| CN112027963A (en) * | 2020-09-08 | 2020-12-04 | 武汉市永信新型材料有限公司 | Fragment of brick is placed board and is promoted transport frame |
| CN112497245A (en) * | 2020-12-10 | 2021-03-16 | 重庆理工大学 | Gripper grabbing range-extending device and gripper thereof |
| CN112497245B (en) * | 2020-12-10 | 2022-03-25 | 重庆理工大学 | Gripper grabbing range-extending device and gripper thereof |
| CN115321172A (en) * | 2022-08-12 | 2022-11-11 | 中国兵器装备集团西南技术工程研究所 | A transport mechanism for heat preservation stove |
| CN116922040A (en) * | 2023-09-18 | 2023-10-24 | 招远市宏润机具制造有限公司 | Pipe wrench assembling equipment |
| CN116922040B (en) * | 2023-09-18 | 2023-11-28 | 招远市宏润机具制造有限公司 | Pipe wrench assembling equipment |
| CN118061228A (en) * | 2024-04-18 | 2024-05-24 | 广东统一机器人智能股份有限公司 | Flexible multi-angle grabbing manipulator |
| CN118061228B (en) * | 2024-04-18 | 2024-07-05 | 广东统一机器人智能股份有限公司 | Flexible multi-angle grabbing manipulator |
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