CN112659188B - Fixed program manipulator capable of testing autonomously - Google Patents
Fixed program manipulator capable of testing autonomously Download PDFInfo
- Publication number
- CN112659188B CN112659188B CN202110050109.6A CN202110050109A CN112659188B CN 112659188 B CN112659188 B CN 112659188B CN 202110050109 A CN202110050109 A CN 202110050109A CN 112659188 B CN112659188 B CN 112659188B
- Authority
- CN
- China
- Prior art keywords
- telescopic
- cavity
- lifting
- fixedly connected
- face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a fixed program manipulator capable of performing autonomous test, which comprises a control rod, wherein a control body is fixedly arranged on the lower end surface of the control rod, a control cavity is arranged in the control body, a power motor is fixedly arranged in the control rod, a connecting rod chute with a downward opening is communicated with the lower side of the control cavity, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the power of the lower end surface of the power motor extends into the control cavity and is connected with a worm sleeve in a power connection mode, and the left side and the right side of the worm sleeve are respectively meshed with worm gears rotatably connected to the rear wall of the control cavity.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a fixed program manipulator capable of performing autonomous test.
Background
In industrial production, the mechanical arm gradually replaces manual work to work, the mechanical arm is inevitably aged after being used for a long time and needs to be maintained, and once the mechanical arm is not maintained timely, production accidents that workpieces fall off can occur. The detection of the existing fixed program manipulator needs manual detection, wastes time and labor, needs higher working experience, and can hurt workers once the test is improper.
Disclosure of Invention
In order to solve the problems, the embodiment designs a fixed program manipulator capable of performing automatic testing, and the fixed program manipulator capable of performing automatic testing comprises a control rod, wherein a control machine body is fixedly arranged on the lower end face of the control rod, a control cavity is arranged in the control machine body, a power motor is fixedly arranged in the control rod, a connecting rod chute with a downward opening is communicated with the lower side of the control cavity, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the lower end face of the power motor extends into the control cavity and is in power connection with a worm sleeve, the left side and the right side of the worm sleeve are respectively meshed with worm gears which are rotatably connected to the rear wall of the control cavity, the front end faces of the left worm gear and the right worm gears are fixedly connected with first cranks, and the front end faces of the left crank and the right crank are both rotatably connected with first crank rotating shafts far away from the axes of the worm gears, the front end surfaces of the left and right first crank rotating shafts are fixedly connected with a first connecting rod, second cranks respectively positioned at the lower sides of the left and right worm gears are arranged in the control cavity, the left and right second cranks are both rotationally connected with the rear wall of the control cavity, the front end surfaces of the left and right second cranks, which are far away from the axis, are both rotationally connected with a second crank rotating shaft, the front end surfaces of the left and right second crank rotating shafts are both fixedly connected with a connecting rod telescopic cavity, a telescopic sliding plate cavity is respectively arranged in the left and right telescopic sliding plate cavities, telescopic sliding plates capable of sliding up and down are respectively arranged in the left and right telescopic sliding plate cavities, a telescopic sliding plate spring is fixedly connected between the lower end surfaces of the left and right telescopic sliding plates and the lower wall of the telescopic sliding plate cavity, a telescopic sliding plate connecting rod is fixedly connected with the upper end surfaces of the left and right telescopic sliding plate cavities, the upper end surfaces of the left and right telescopic sliding plate connecting rods are respectively fixedly connected with the lower end surfaces of the left and right first connecting rods, control two the terminal surface extends to under the flexible chamber of connecting rod control terminal surface downside and difference fixedly connected with jack catch connecting rod under the fuselage, control two equal fixedly connected with jack catch of jack catch connecting rod downside controls two the jack catch can carry out the centre gripping with the work piece.
Preferably, the left side right-hand member face of the jack catch and the right side left-hand member face of the jack catch are provided with anti-skidding grooves, and the left anti-skidding grooves and the right anti-skidding grooves can increase friction force.
Preferably, a worm sleeve cavity with a downward opening is formed in the worm sleeve, a lifting lead screw capable of sliding up and down is arranged in the worm sleeve cavity, a telescopic spline chute with a forward opening is formed in the lifting lead screw, a telescopic slider cavity facing the telescopic spline chute is formed in the worm sleeve, a telescopic slider capable of sliding back and forth is arranged in the telescopic slider cavity, a telescopic spring is fixedly connected between the front end face of the telescopic slider and the front wall of the telescopic slider cavity, an electromagnet is fixedly arranged in the front wall of the telescopic slider cavity, a telescopic slider connecting rod is fixedly arranged on the rear end face of the telescopic slider connecting rod, a telescopic spline is fixedly connected to the rear end face of the telescopic slider connecting rod, the rear end face of the telescopic spline is semicircular, and the rear end face of the telescopic spline extends into the telescopic spline chute and can slide up and down in the telescopic spline chute.
Preferably, the terminal surface runs through under the lift lead screw threaded sleeve and extends to the threaded sleeve downside, the outer disc of lift lead screw with threaded connection between the threaded sleeve, terminal surface fixedly connected with detection case under the lift lead screw, be equipped with the opening respectively left and right translation spout, control two in the detection case all be equipped with ability horizontal slip's translation slide, left side in the translation spout translation slide left end face and right side the equal fixedly connected with translation slide connecting rod of translation slide right-hand member face, left side translation slide right-hand member face and right side translation slide left end face is the first contact switch of fixedly connected with respectively, controls two the translation spout is controlled two walls and is fixed being equipped with respectively just controlling two the second contact switch of first contact switch controls two both ends face respectively with control two about the translation spout fixedly connected with translation slide spring between the two walls.
But preferably, control two both ends face difference fixedly connected with translation case about the translation slide connecting rod, control two all be equipped with the lift chamber in the translation case, control two equal fixedly connected with between the two walls leads the slide bar about the lift chamber, control two all be equipped with gliding elevator from top to bottom in the lift chamber, control two it runs through respectively to lead the slide bar about two both ends face about, control two elevator up end and control two fixedly connected with encircle between the lift chamber upper wall in lead the elevator spring of slide bar, control two both ends face difference fixedly connected with lift connecting rod about the elevator, control two the lift chamber left and right sides communicates respectively and is equipped with opening left and right lift connecting rod spout, controls two both ends face extends to about respectively two translation case left and right sides and fixedly connected with friction disc, control two the elevator under the terminal surface all be fixed with the third contact switch, control two the fixed lower wall of lift chamber is equipped with just to the fourth contact switch of third contact switch.
Preferably, be equipped with bilateral symmetry's belt drive chamber in the control chamber back wall, control two worm wheel rear end face power extends to belt drive intracavity and axle center fixedly connected with drive pulley controls two second crank rear end face power extends to belt drive intracavity and axle center fixedly connected with driven pulley controls two driven pulley respectively with control two around being equipped with the belt between the drive pulley.
The invention has the beneficial effects that: according to the invention, through a mode designed in the manipulator, the worm gear drives the manipulator to work, and then the working state is switched by controlling the telescopic spline to stretch, so that a worker can detect the clamping capacity of the fixed program manipulator at any time and any place, the installation cost and the manpower and material resources consumed by testing are saved, and the worker is prevented from being injured by clamping due to improper testing.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of the overall structure of a fixed program manipulator capable of autonomous testing according to the present invention.
Fig. 2 isbase:Sub>A schematic view of the structurebase:Sub>A-base:Sub>A in fig. 1.
FIG. 3 is a schematic diagram of B-B in FIG. 1.
Fig. 4 is an enlarged schematic view of C in fig. 1.
Fig. 5 is an enlarged schematic view of D in fig. 2.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below coincide with the up, down, left, right, and front-back directions in the projection relation of fig. 1 itself.
The invention relates to a fixed program manipulator capable of performing autonomous test, which comprises a control rod 11, wherein a control body 12 is fixedly arranged on the lower end surface of the control rod 11, a control cavity 14 is arranged in the control body 12, a power motor 13 is fixedly arranged in the control rod 11, a connecting rod chute 37 with a downward opening is communicated with the lower side of the control cavity 14, a threaded sleeve 38 is fixedly connected between the front wall and the rear wall of the connecting rod chute 37, the lower end surface of the power motor 13 extends into the control cavity 14 and is in power connection with a worm sleeve 15, the left side and the right side of the worm sleeve 15 are respectively engaged with a worm wheel 26 which is rotatably connected with the rear wall of the control cavity 14, the front end surfaces of the left worm wheel 26 and the right worm wheel 26 are fixedly connected with first cranks 27, and the front end surfaces of the left crank 27 and the right crank 27 are both rotatably connected with first crank rotating shafts 28 far away from the axis of the worm wheel 26, the front end surfaces of the left and right first crank rotating shafts 28 are fixedly connected with a first connecting rod 29, second cranks 30 respectively positioned at the lower sides of the left and right worm gears 26 are arranged in the control cavity 14, the left and right second cranks 30 are both rotatably connected with the rear wall of the control cavity 14, the positions, away from the axis, of the front end surfaces of the left and right second cranks 30 are both rotatably connected with a second crank rotating shaft 31, the front end surfaces of the left and right second crank rotating shafts 31 are both fixedly connected with a connecting rod telescopic cavity 32, the left and right connecting rod telescopic cavities 32 are both provided with telescopic sliding plate cavities 33, the left and right telescopic sliding plate cavities 33 are both provided with telescopic sliding plates 34 capable of sliding up and down, a telescopic sliding plate spring 36 is fixedly connected between the lower end surfaces of the left and right telescopic sliding plates 34 and the lower wall of the telescopic sliding plate cavity 33, and the upper end surfaces of the left and right telescopic sliding plate cavities 33 are both fixedly connected with telescopic sliding plate connecting rods 35, control two telescopic slide connecting rod 35 up end fixed connection respectively controls two terminal surface about first connecting rod 29 controls two under the flexible chamber 32 of connecting rod terminal surface extends to under the control fuselage 12 terminal surface downside and respectively fixedly connected with jack catch connecting rod 40 controls two the equal fixedly connected with jack catch 41 of jack catch connecting rod 40 downside controls two jack catch 41 can carry out the centre gripping with the work piece.
Advantageously, the right end face of the left-side clamping jaw 41 and the left end face of the right-side clamping jaw 41 are provided with anti-slip grooves 42, and the left anti-slip grooves 42 and the right anti-slip grooves 42 can increase friction force.
Beneficially, a worm sleeve cavity 16 with a downward opening is formed in the worm sleeve 15, a lifting screw rod 17 capable of sliding up and down is arranged in the worm sleeve cavity 16, a telescopic spline chute 18 with a forward opening is formed in the lifting screw rod 17, a telescopic slider cavity 20 facing the telescopic spline chute 18 is formed in the worm sleeve 15, a telescopic slider 21 capable of sliding back and forth is arranged in the telescopic slider cavity 20, a telescopic spring 22 is fixedly connected between the front end face of the telescopic slider 21 and the front wall of the telescopic slider cavity 20, an electromagnet 23 is fixedly arranged in the front wall of the telescopic slider cavity 20, a telescopic slider connecting rod 24 is fixedly arranged on the rear end face of the telescopic slider 21, a telescopic spline 25 is fixedly connected to the rear end face of the telescopic slider connecting rod 24, the rear end face of the telescopic spline 25 is semicircular, and the rear end face of the telescopic spline 25 extends into the telescopic spline chute 18 and can slide up and down in the telescopic spline chute 18.
Beneficially, the lower end surface of the lifting screw 17 penetrates through the threaded sleeve 38 and extends to the lower side of the threaded sleeve 38, the outer circular surface of the lifting screw 17 is in threaded connection with the threaded sleeve 38, the lower end surface of the lifting screw 17 is fixedly connected with a detection box 50, translation sliding grooves 51 with openings respectively towards left and right are arranged in the detection box 50, translation sliding plates 52 capable of sliding left and right are arranged in the two translation sliding grooves 51, translation sliding plate connecting rods 56 are fixedly connected to the left end surface of the translation sliding plate 52 on the left side and the right end surface of the translation sliding plate 52 on the right side, first contact switches 54 are fixedly connected to the right end surface of the translation sliding plate 52 on the left side and the left end surface of the translation sliding plate 52 on the right side respectively, second contact switches 55 facing the two first contact switches 54 on the left and the right are fixedly arranged on the left and right walls of the two translation sliding grooves 51 on the left and right sides, and translation sliding plate springs 53 are fixedly connected between the left and right walls of the two translation sliding plates 52 on the left and right sides respectively.
Beneficially, the left end face and the right end face of the left translation sliding plate connecting rod 56 and the right end face of the right translation sliding plate connecting rod 56 are fixedly connected with a translation box 57, the left translation box 57 and the right translation box 57 are both provided with a lifting cavity 58, the upper wall and the lower wall of the left lifting cavity 58 and the lower wall of the right lifting cavity 58 are both fixedly connected with guide slide rods 59, lifting blocks 60 capable of sliding up and down are arranged in the left lifting cavity 58 and the right lifting cavity 58, the left guide slide rods 59 and the right guide slide rods 59 penetrate through the upper end face and the lower end face of the left lifting block 60 and the lower end face of the right lifting block 60, lifting block springs 66 surrounding the guide slide rods 59 are fixedly connected between the upper end faces of the left lifting block 60 and the upper wall of the right lifting cavity 58, the left end face and the right lifting cavity 58 are respectively communicated with lifting link chutes 61 with left and right openings, the left end face and right end faces of the left lifting link 62 are respectively extended to the left and right sides of the translation box 57 and are fixedly connected with friction plates 63, the lower end faces of the left lifting block 60 are both fixedly provided with a third contact switch 64, and the lower wall of the left lifting cavity 58 is fixedly provided with a fourth contact switch 65.
Beneficially, be equipped with bilateral symmetry's belt drive chamber 43 in the control chamber 14 back wall, control two worm wheel 26 rear end face power extends to in the belt drive chamber 43 and axle center fixedly connected with driving pulley 45, control two second crank 30 rear end face power extends to in the belt drive chamber 43 and axle center fixedly connected with driven pulley 46, control two driven pulley 46 respectively with control two around being equipped with belt 47 between the driving pulley 45.
The following is a detailed description of the procedure for using a self-test capable fixed program manipulator in this context with reference to fig. 1 to 5:
in the initial state, the left and right first cranks 27 are located at the upper limit position, the left and right jaws 41 are located at the upper limit position, the lifting screw 17 is located at the upper limit position in the worm sleeve cavity 16, the telescopic slider 21 is located at the front limit position in the telescopic slider cavity 20, the left and right translational slide plate springs 53 make the left and right translational slide plates 52 away from each other, and the left and right lifting block springs 66 make the left and right lifting blocks 60 located at the upper limit position.
In operation, the power motor 13 is started, the power motor 13 drives the worm sleeve 15 to rotate, the worm sleeve 15 drives the worm wheel 26 to rotate through gear tooth engagement, the left and right worm wheels 26 drive the left and right first cranks 27 to rotate downward, the left and right first cranks 27 drive the left and right first connecting rods 29 to slide downward through the left and right first crank rotating shafts 28, the left and right worm wheels 26 drive the left and right driving belt pulleys 45 to rotate, the left and right driving belt pulleys 45 drive the left and right driven belt pulleys 46 to rotate through the left and right belts 47, respectively, and then drive the left and right second cranks 30 to rotate, the left and right second cranks 30 drive the left and right connecting rod telescopic cavities 32 to swing downward through the left and right second crank rotating shafts 31, the left and right connecting rod telescopic cavities 32 drive the left and right jaw connecting rods 40 to swing downward, and then drive the left and right jaws 41 to swing downward to clamp, when a user needs to detect the durability of the manipulator, the electromagnet 23 is energized, the electromagnet drives the telescopic slider 21 to slide backward and stretch to the telescopic slider 21 to drive the slider 24 to slide backward, and extend to the left and right jaws 25 to move to the left and right telescopic slide to the left and right jaws 17, and the left and right telescopic slide to the left and right jaws 17 to move to the left and right telescopic boxes to move to the left and right friction plates 17, and right friction plates 17, and left and right friction plates 17, respectively, and right friction plates are detected by the friction plates 60, and left and right telescopic boxes, and left telescopic boxes, and right telescopic boxes 17, the left and right translation boxes 57 respectively drive the left and right translation sliding plates 52 to approach each other through the left and right translation sliding plate connecting rods 56, the left and right translation sliding plates 52 drive the left and right first contact switches 54 to approach each other and compress the translation sliding plate springs 53, when the left and right first contact switches 54 contact with the left and right second contact switches 55, the clamping force between the left and right jaws 41 is reminded to reach the standard, meanwhile, the left and right jaws 41 drive the left and right friction plates 63 to move downwards, the left and right friction plates 63 drive the left and right lifting blocks 60 to move downwards and stretch the lifting block springs 66 through the left and right lifting connecting rods 62, the left and right lifting blocks 60 respectively drive the left and right third contact switches 64 to slide downwards, and when the left and right third contact switches 64 contact with the fourth contact switches 65, the friction force between the left and right jaws 41 is reminded to reach the standard.
The invention has the beneficial effects that: according to the invention, by means of the mode designed in the manipulator, the worm gear drives the manipulator to work, and then the working state is switched by controlling the telescopic spline to stretch, so that a worker can detect the clamping capacity of the fixed program manipulator at any time and any place, the installation cost and the manpower and material resources consumed by testing are saved, and the worker is prevented from being injured by clamping due to improper testing.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (1)
1. A fixed program manipulator capable of testing autonomously comprises a control rod, and is characterized in that: the lower end face of the control rod is fixedly provided with a control body, the control body is internally provided with a control cavity, the control rod is internally fixedly provided with a power motor, the lower side of the control cavity is communicated with a connecting rod chute with a downward opening, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the lower end face of the power motor extends into the control cavity and is connected with a worm sleeve, the left side and the right side of the worm sleeve are respectively meshed with a worm wheel which is rotatably connected with the rear wall of the control cavity, the front end faces of the left crank and the right crank are fixedly connected with a first crank shaft, the positions far away from the axis of the worm wheel are respectively connected with a first connecting rod, the front end faces of the left crank and the right crank shafts are respectively provided with a second crank, the left crank shaft and the right crank shaft are respectively positioned at the lower side of the worm wheel, the left crank and the right crank are rotatably connected with the rear wall of the control cavity, the front end faces of the left crank and the right crank are respectively connected with a telescopic sliding plate, the upper end faces of the left and the telescopic sliding plate are respectively connected with a telescopic sliding plate, the lower end faces of the left and right sliding plate, the telescopic sliding plate are respectively connected with a telescopic sliding plate, the lower end face of the telescopic sliding plate, the telescopic sliding plate is connected with a telescopic sliding plate, the clamping jaws are fixedly connected to the lower sides of the left clamping jaw connecting rod and the right clamping jaw connecting rod, and can clamp a workpiece; the right end face of the left clamping jaw and the left end face of the right clamping jaw are provided with anti-skidding grooves, and the left anti-skidding groove and the right anti-skidding groove can increase friction force; a worm sleeve cavity with a downward opening is arranged in the worm sleeve, a lifting screw rod capable of sliding up and down is arranged in the worm sleeve cavity, a telescopic spline chute with a forward opening is arranged in the lifting screw rod, a telescopic slider cavity opposite to the telescopic spline chute is arranged in the worm sleeve, a telescopic slider capable of sliding back and forth is arranged in the telescopic slider cavity, a telescopic spring is fixedly connected between the front end face of the telescopic slider and the front wall of the telescopic slider cavity, an electromagnet is fixedly arranged in the front wall of the telescopic slider cavity, a telescopic slider connecting rod is fixedly arranged on the rear end face of the telescopic slider, a telescopic spline is fixedly connected on the rear end face of the telescopic slider connecting rod, the rear end face of the telescopic spline is semicircular, and the rear end face of the telescopic spline extends into the telescopic spline chute and can slide up and down in the telescopic spline chute; the lower end surface of the lifting screw rod penetrates through the threaded sleeve and extends to the lower side of the threaded sleeve, the outer circular surface of the lifting screw rod is in threaded connection with the threaded sleeve, the lower end surface of the lifting screw rod is fixedly connected with a detection box, translation sliding grooves with openings respectively towards the left and the right are arranged in the detection box, translation sliding plates capable of sliding left and right are arranged in the left and the right translation sliding grooves, the left end surface of the translation sliding plate at the left side and the right end surface of the translation sliding plate at the right side are fixedly connected with translation sliding plate connecting rods, the right end surface of the translation sliding plate at the left side and the left end surface of the translation sliding plate at the right side are respectively and fixedly connected with first contact switches, second contact switches corresponding to the left and the right first contact switches are respectively and fixedly arranged on the left and the right walls of the translation sliding grooves, and translation sliding plate springs are respectively and fixedly connected between the left and right end surfaces of the translation sliding plates and the left and right walls of the translation sliding grooves; the left end surface and the right end surface of the connecting rod of the left translational sliding plate and the right translational sliding plate are respectively and fixedly connected with a translational box, a lifting cavity is respectively arranged in the left translational box and the right translational box, a guide sliding rod is respectively and fixedly connected between the upper wall and the lower wall of the left lifting cavity and the lower wall of the right lifting cavity, a lifting block capable of sliding up and down is respectively arranged in the left lifting cavity and the right lifting cavity, the left guide sliding rod and the right guide sliding rod respectively penetrate through the upper end surface and the lower end surface of the left lifting block and the right lifting block, a lifting block spring surrounding the guide sliding rod is fixedly connected between the upper end surface of the left lifting block and the upper wall of the left lifting cavity and the right lifting cavity, the left end face and the right end face of the left lifting block and the right lifting block are respectively and fixedly connected with a lifting connecting rod, the left side and the right side of the left lifting cavity and the right side of the right lifting cavity are respectively communicated with a lifting connecting rod sliding chute with a left opening and a right opening, the left end face and the right end face of the left lifting connecting rod and the right lifting connecting rod respectively extend to the left side and the right side of the left translation box and are fixedly connected with friction plates, the lower end faces of the left lifting block and the right lifting cavity are respectively and fixedly provided with a third contact switch, and the lower walls of the left lifting cavity and the right lifting cavity are fixedly provided with a fourth contact switch opposite to the third contact switch; be equipped with bilateral symmetry's belt drive chamber in the control chamber back wall, control two worm wheel rear end face power extends to belt drive intracavity and axle center fixedly connected with drive pulley controls two second crank rear end face power extends to belt drive intracavity and axle center fixedly connected with driven pulley controls two driven pulley respectively with control two around being equipped with the belt between the drive pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110050109.6A CN112659188B (en) | 2021-01-14 | 2021-01-14 | Fixed program manipulator capable of testing autonomously |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110050109.6A CN112659188B (en) | 2021-01-14 | 2021-01-14 | Fixed program manipulator capable of testing autonomously |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112659188A CN112659188A (en) | 2021-04-16 |
| CN112659188B true CN112659188B (en) | 2022-12-13 |
Family
ID=75415208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110050109.6A Active CN112659188B (en) | 2021-01-14 | 2021-01-14 | Fixed program manipulator capable of testing autonomously |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112659188B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478407B (en) * | 2021-06-02 | 2022-09-27 | 机械工业第九设计研究院股份有限公司 | Accurate clamping and positioning mechanism with elastic tensioning function |
| CN113276148B (en) * | 2021-07-26 | 2021-09-24 | 南通海泰机械设备有限公司 | Mechanical clamping jaw manufactured by mechanical equipment |
| CN115791981A (en) * | 2022-12-26 | 2023-03-14 | 于洋 | A Portable Fillet Weld Inspection Tool |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737640A (en) * | 2016-12-29 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | A kind of lift dowel device |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69940169D1 (en) * | 1998-06-16 | 2009-02-05 | Sumitomo Heavy Industries | Injection molding machine |
| US6271614B1 (en) * | 1998-11-20 | 2001-08-07 | Christopher J. Arnold | Pulsed plasma drive electromagnetic motor generator |
| CN202097741U (en) * | 2010-09-14 | 2012-01-04 | 长春理工大学 | Mechanical hand used for deep well rescue |
| CN102615650A (en) * | 2012-04-17 | 2012-08-01 | 苏州经贸职业技术学院 | Manipulator clamping device for serial connection reinforcement mechanism |
| CN105784514A (en) * | 2016-03-09 | 2016-07-20 | 温州经济技术开发区滨海雄杰机电研发工作室 | Nickel alloy glass detecting machine frame with worm gear, rotary table, screw camera and ladder corner pressing plates |
| KR102008799B1 (en) * | 2017-01-26 | 2019-08-08 | (주)로보케어 | Apparatus and method for grasping ice |
| CN206696184U (en) * | 2017-03-20 | 2017-12-01 | 北京永利源混凝土有限公司 | Lift stable fine aggregate methylenum careuleum test device |
| CN206795855U (en) * | 2017-05-24 | 2017-12-26 | 成都众智优学教育咨询有限公司 | The rotary type transmission mechanism of industrial machinery arm |
| CN107378999A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
| CN107443361A (en) * | 2017-08-17 | 2017-12-08 | 柳州福能机器人开发有限公司 | Multivariant mechanical arm |
| CN107972050B (en) * | 2017-10-31 | 2020-02-11 | 威海职业学院 | Flexible intelligent mechanical arm |
| CN108818587A (en) * | 2018-07-09 | 2018-11-16 | 肖垒 | A kind of nut clamping pick device |
| CN110103254A (en) * | 2019-05-16 | 2019-08-09 | 东莞理工学院 | Multi-environment robot knowledge acquisition and growth capacity simulation evaluation mechanism |
| CN110617908B (en) * | 2019-09-06 | 2024-05-07 | 中国汽车技术研究中心有限公司 | Full-automatic side door opening and closing force measuring manipulator |
| CN111776681A (en) * | 2020-07-24 | 2020-10-16 | 兰溪微云自动化科技有限公司 | Transfer robot capable of automatically labeling |
-
2021
- 2021-01-14 CN CN202110050109.6A patent/CN112659188B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737640A (en) * | 2016-12-29 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | A kind of lift dowel device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112659188A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112659188B (en) | Fixed program manipulator capable of testing autonomously | |
| CN110127360B (en) | Intelligent equipment that snatchs based on laser | |
| CN110479643B (en) | Code spraying detection device for production package | |
| CN110370078B (en) | Material detection equipment on machining station | |
| CN110307967B (en) | Crack detection device for columnar part | |
| CN110937500B (en) | Hoisting device convenient for underwater hoisting | |
| CN112705662B (en) | Multi-functional forging upset auxiliary device | |
| CN108312141A (en) | A kind of the balance mechanical arm and application method of meal delivery robot | |
| CN217200563U (en) | Special general purpose anchor clamps of robot | |
| CN110978007B (en) | Automatic brick carrying manipulator | |
| CN111716138A (en) | Automatic workpiece overturning device | |
| CN113399854A (en) | Electric welding machining equipment for mechanical parts | |
| CN112623928A (en) | Lifting equipment for tubular column | |
| CN110722088B (en) | Forge piece carrying device for free forging processing | |
| CN112518786A (en) | Emergency protection device for automatic clamping equipment | |
| CN219915211U (en) | Degradable plastic product strength detection device | |
| CN111633486A (en) | Polisher with snatch calibration function | |
| CN217256130U (en) | Base structure for detecting safe composite wooden door | |
| CN216037156U (en) | Stacking robot | |
| CN112496185A (en) | Press is repaiied to vapour that can fixed work piece | |
| CN112249563A (en) | Automatic transfer manipulator for garbage truck of position | |
| CN111015711A (en) | Manipulator capable of automatically grabbing and distinguishing after detection | |
| TWI611896B (en) | A mold device for lifting and turning | |
| CN210550113U (en) | Bead feeding device of automatic crystal bead grinding machine | |
| CN110202385B (en) | Sputtering-proof drilling and grinding integrated machining system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221116 Address after: 101100 101, Floor 3, Building 10, Yard 10, Jingsheng South Second Street, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing Applicant after: Beijing Xinzhong Biotechnology Co.,Ltd. Address before: No.17, Sidao street, Qingyang District, Chengdu, Sichuan 610031 Applicant before: Chengdu Changbi xuanya Trading Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |