CN201736218U - Multifunctional explosive setting manipulator based on remote blasting technique - Google Patents
Multifunctional explosive setting manipulator based on remote blasting technique Download PDFInfo
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- CN201736218U CN201736218U CN201020188525XU CN201020188525U CN201736218U CN 201736218 U CN201736218 U CN 201736218U CN 201020188525X U CN201020188525X U CN 201020188525XU CN 201020188525 U CN201020188525 U CN 201020188525U CN 201736218 U CN201736218 U CN 201736218U
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Abstract
The utility model relates to a multifunctional explosive setting manipulator based on the remote blasting technique. The multifunctional explosive setting manipulator includes a hand mechanism and a movement mechanism used for driving the hand mechanism. The hand mechanism includes a joint body A, and a holding mechanism is arranged at the front part; and the movement mechanism includes a wrist mechanism, an arm mechanism and a shoulder mechanism. The shoulder mechanism includes a joint body B, a rod slide rail is arranged at the front part of the joint body B, a strip-shaped slide block is arranged in the rod slide rail, a screw propulsion component is arranged at the rear part of the strip-shaped slide block, and a first worm-and-wheel gear is arranged on the joint body B. The arm mechanism includes an arm body, the front part of the arm body is hinged with the joint body B, a joint body C is hinged with the rear part of the arm body, and a second worm-and-wheel gear is arranged on the joint body C. The utility model can smoothly push out a held object to a specific position, such as a formed hole and the like, so as to replace manpower to set explosive and reduce the risk of manual operation.
Description
Technical field
The utility model belongs to long-range explosion auxiliary equipment field, relates to a kind of manipulator, and especially a kind of multi-functional explosive based on long-range blasting technique is settled manipulator.
Background technology
Explosion is a kind of work of high-risk; but be a requisite job again in economic construction; utilize blasting technique can be very fast many difficult problems in solution construction or the rescue; but because the particularity of explosion; need the explosion personnel very careful; however also carelessness unavoidably owing to some human errors, causes tragedy through regular meeting in explosive is settled.Therefore, designing a kind of manipulator that can replace explosion personnel placement explosive, thereby avoid personnel to be in the action, is that the technical staff in explosion field is desired.
The utility model content
The purpose of this utility model is to overcome the shortcoming of above-mentioned prior art, provide a kind of multi-functional explosive to settle manipulator based on long-range blasting technique, this manipulator is a kind of explosion and rescue Aided Machine based on long-range bursting work, can replace the disaster assistance staff to carry out field operation.
The purpose of this utility model solves by the following technical programs: this multi-functional explosive based on long-range blasting technique is settled manipulator, the motion that comprises hand organization and be used to drive hand organization, described hand organization includes a joint body A, and the front portion of joint body A is provided with clamping device; Described motion comprises wrist mechanism, arm mechanism and wing portion mechanism; Described wrist mechanism comprises joint body B, the front portion of joint body B is provided with a shaft-like slide rail, central axis at shaft-like slide bar is offered through hole, be provided with the bar shaped slide block in the through hole, the rear portion of bar shaped slide block is provided with the leading screw propulsion assembly, also is provided with first worm-and-wheel gear that is used to drive the bending of wrist mechanism on the described joint body B; Described arm mechanism comprises the arm body, and the front portion of arm body and joint body B are hinged, and the rear portion of arm body is hinged with joint body C, and joint body C is provided with second worm-and-wheel gear that is used for the bending of actuating arm body; Described wing portion mechanism comprises the wing body and is located at the interior rotation output mechanism of wing body that the rotating output shaft of rotation output mechanism is fixedlyed connected with joint body C; The joint body A of described hand organization is nested on the shaft-like slide rail of wrist mechanism, and the bar shaped slide block in the shaft-like slide rail of joint body A connects.
Above-mentioned joint body A is connected with bar shaped slide block in the shaft-like slide rail by the axial pass trough that is opened on the shaft-like slide rail.
The leading screw propulsion assembly at above-mentioned bar shaped slide block rear portion comprises lead screw shaft and electric rotating machine B, electric rotating machine B is located at the lead screw shaft rear portion and rotates to drive lead screw shaft, described bar shaped slide block inside is axially arranged with screwed hole, and lead screw shaft cooperates with the screwed hole of bar shaped slide block inside to drive the bar shaped slide block slides vertically.
Above-mentioned clamping device comprises a position-arresting disk, evenly be provided with a plurality of holding fingers by draw-in groove on the position-arresting disk, the rear side of position-arresting disk is provided with cam disc, the front end card of cam disc is provided with multiple tracks helical form slideway, the rear end of a plurality of holding fingers is stuck in the helical form slideway of cam disc, cam disc axle on the described cam disc is connected with turbine wheel shaft A by bearing A and shaft coupling, turbine wheel shaft A is installed in the body A of joint, the worm shaft A that cooperates with turbine wheel shaft A also is installed in the body A of joint, and described worm shaft A is driven by electric rotating machine A; Described position-arresting disk is also fixedlyed connected with joint body A by a plurality of stators.
The rear end of above-mentioned joint body A is provided with linear electric motors, described turbine wheel shaft A, shaft coupling and cam disc axle axis are hollow, the center of position-arresting disk offers a through hole, and the main shaft of described linear electric motors passes the quill shaft of turbine wheel shaft A, shaft coupling and cam disc axle successively and passes through the front side of the central through hole of position-arresting disk to position-arresting disk.
Above-mentioned first worm-and-wheel gear comprises turbine wheel shaft B and the scroll bar axle B that is installed in the body B of joint and cooperatively interacts, described turbine wheel shaft B is located at the jointed shaft position between joint body B and the arm body, body B upper end in joint is provided with electric rotating machine C, and described scroll bar axle B is driven by electric rotating machine C.
Above-mentioned second worm-and-wheel gear comprises turbine wheel shaft and the scroll bar axle that is installed in the body C of joint and cooperatively interacts, described turbine wheel shaft is located at the jointed shaft position between joint body C and the arm body, body C upper end in joint is provided with electric rotating machine D, and described scroll bar axle is driven by electric rotating machine D.
Above-mentioned rotation output mechanism is made up of one speed reducer and electric rotating machine E, and the output shaft of described electric rotating machine E is connected with the power shaft of accelerator, and the output shaft of decelerator is rotating output shaft.
Multi-functional explosive based on long-range blasting technique of the present utility model is settled the each several part of manipulator by the imitation human arm, mechanically, in conjunction with hand clamping device, leading screw propulsion assembly, worm-and-wheel gear and rotation output mechanism, actions such as the clamping of manipulator, flexible, bending have been realized, the auxiliary release action that it is exclusive, realize by leading screw propulsion assembly and shaft-like slide rail, bar shaped slide block, can release gripped object smoothly to certain location, as in the hole of accomplishing fluently etc., thereby can replace manually settling explosive, reduce manually-operated risk.
Description of drawings
Fig. 1 is overall structure figure of the present utility model; Fig. 2 disassembles schematic diagram for the structure of Fig. 1.
Wherein: 100-position-arresting disk, 101-holding finger, 102-cam disc, the 103-stator, 104-cam disc axle, 105-bearing A, the 106-shaft coupling, 107-turbine wheel shaft A, 108-bearing B, 109-worm shaft A, 110-joint body A, 111-electric rotating machine A, 112-motor cabinet A, 113-end cap A, 114-alignment pin A, the 115-linear electric motors, the shaft-like slide rail of 127-, 128-stripe shape slide block, the 129-lead screw shaft, 133-electric rotating machine B, 116-joint body B, the 117-end cap, 118-turbine wheel shaft B, 119-worm shaft B, the 120-bearings D, 121-motor cabinet B, 122-electric rotating machine C, 131-joint body C, 132-arm body, 123-electric rotating machine D, 124-wing body, 125-motor cabinet C, 126-electric rotating machine E, 130-rotating output shaft.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done and to be described in further detail: referring to Fig. 1 and Fig. 2, the motion that the utility model comprises hand organization and is used to drive hand organization: motion: comprise wrist mechanism, arm mechanism and wing portion mechanism.
(1) wrist mechanism: comprise joint body B 116, the front portion of joint body B 116 is provided with a shaft-like slide rail 127, central axis at shaft-like slide bar 127 is offered through hole, be provided with bar shaped slide block 128 in the through hole, the rear portion of bar shaped slide block 128 is provided with the leading screw propulsion assembly, also is provided with first worm-and-wheel gear that is used to drive the bending of wrist mechanism on the joint body B 116.
(2) arm mechanism: comprise arm body 132, the front portion of arm body 132 and joint body B 116 are hinged, and the rear portion of arm body 132 is hinged with joint body C 131, and joint body C 131 is provided with second worm-and-wheel gear that is used for 132 bendings of actuating arm body.
(3) wing portion mechanism: comprise wing body 124 and the rotation output mechanism of being located in the wing body 124, the rotating output shaft 130 of rotation output mechanism is fixedlyed connected with joint body C 131.The joint body A 110 of hand organization is nested on the shaft-like slide rail 127 of wrist mechanism, and the bar shaped slide block 128 in the joint body A 110 shaft-like slide rails 127 connects.
The leading screw propulsion assembly at bar shaped slide block 128 rear portions comprises lead screw shaft 129 and electric rotating machine B 133, electric rotating machine B133 is located at lead screw shaft 129 rear portions and rotates to drive lead screw shaft 129, described bar shaped slide block 128 inside are axially arranged with screwed hole, and lead screw shaft 129 cooperates with the screwed hole of bar shaped slide block 128 inside to drive bar shaped slide block 128 slides vertically.
First worm-and-wheel gear comprises and is installed in the joint body B 116 and the turbine wheel shaft B 118 and the scroll bar axle B119 that cooperatively interact, described turbine wheel shaft B 118 is located at the jointed shaft position between joint body B 116 and the arm body 132, body B 116 upper ends, joint are provided with electric rotating machine C 122, described scroll bar axle B 119 is driven by electric rotating machine C 122, electric rotating machine C 122 is fixed on the joint body B 116 by motor cabinet B 121, scroll bar axle B 119 is installed in the joint body B 116 by bearings D 120, turbine wheel shaft B 118 also is installed in the joint body B 116 by two bearings, the end of turbine wheel shaft B 118 stretches out the side of joint body B 116 and is connected with the output shaft of electric rotating machine C 122, and the other end of turbine wheel shaft B 118 is sealed by the end cap of being located on body B 116 sides, joint 117.
The structure of second worm-and-wheel gear is similar to first worm-and-wheel gear, it comprises and is installed in the joint body C 131 and the turbine wheel shaft and the scroll bar axle that cooperatively interact, described turbine wheel shaft is located at the jointed shaft position between joint body C 131 and the arm body 132, body C 131 upper ends, joint are provided with electric rotating machine D 123, and described scroll bar axle is driven by electric rotating machine D 123.
The rotation output mechanism is made up of one speed reducer and electric rotating machine E 126, and the output shaft of electric rotating machine E 126 is connected with the power shaft of accelerator, and the output shaft of decelerator is rotating output shaft 130.
The hand organization hand organization comprises a joint body A 110, and the front portion of joint body A 110 is provided with clamping device.Joint body A 110 is connected with bar shaped slide block 128 in the shaft-like slide rail 127 by the axial pass trough that is opened on the shaft-like slide rail 127.Clamping device comprises a position-arresting disk 100, evenly be provided with a plurality of holding fingers 101 (three holding fingers 101 are set in the diagram) by draw-in groove on the position-arresting disk 100, the rear side of position-arresting disk 100 is provided with cam disc 102, the front end card of cam disc 102 is provided with multiple tracks helical form slideway, the rear end of a plurality of holding fingers 101 is stuck in the helical form slideway of cam disc 102, cam disc axle 104 on the cam disc 102 is connected with turbine wheel shaft A 107 by bearing A 105 and shaft coupling 106, turbine wheel shaft A 107 is installed in the joint body A 110, the worm shaft A 109 that cooperates with turbine wheel shaft A 107 also is installed in the joint body A 110, worm shaft A 109 is installed in the joint body A 110 by two bearing B 108 that are located at its two ends, worm shaft A 109 is driven by electric rotating machine A 111, electric rotating machine A 111 is installed in the side of joint body A 110 by motor cabinet A 112, its output shaft is connected with the end of worm shaft A 109, and worm shaft A 109 other ends and bearing are sealed by the end cap A that is located on the joint body A 110.Position-arresting disk 100 is also fixedlyed connected with joint body A 110 by a plurality of stators 103.The rear end of joint body A 110 is provided with linear electric motors 115, turbine wheel shaft A 107, shaft coupling 106 and cam disc axle 104 axis are hollow, the center of position-arresting disk 100 offers a through hole, and the main shaft of described linear electric motors 115 passes the quill shaft of turbine wheel shaft A 107, shaft coupling 106 and cam disc axle 104 successively and passes through the front side of the central through hole of position-arresting disk 100 to position-arresting disk 100.Be provided with the alignment pin 114 that is used to locate linear electric motors 115 between the trailing flank of linear electric motors 115 and joint body A 110.
The motion of the utility model various piece is described as follows: hand organization motion explanation: bearing A 105, shaft coupling 106, turbine wheel shaft A 107, bearing B 108 and worm shaft A 109 are the internal structure of joint body A 110, and the motion that constitutes a reducing gear and transmit electric rotating machine A 111 is to turbine wheel shaft A107.Turbine wheel shaft A 107 links to each other with cam disc axle 104 by shaft coupling 106.Cam disc 102 is fixed with cam disc axle 104, can rotate with the rotation of cam disc axle 104.Stator 103 connects position-arresting disk 100 and joint body A 110, makes it to keep static relatively.Projection is arranged at holding finger 101 bottoms, is embedded in the slideway of cam disc 102, and when cam disc 102 rotations, holding finger 101 can move on position-arresting disk 100, realizes " clamping operation ".Linear electric motors 115 main shafts pass position-arresting disk 100 centre bores and carry out straight-line feed, realize " release " operation.
The explanation of wrist mechanism kinematic: shaft-like slide rail 127 keeps relative static with joint body B 116.Stripe shape slide block 128 is by long through-hole and joint body A 110 concrete mutuallies on shaft-like slide rail 127 central shafts, and stripe shape slide block 128 constitutes typical lead-screw drive mechanism with lead screw shaft 129 and electric rotating machine B 133.The effect of " wrist " be make " hand " integral body protract or after contract.
Arm mechanism kinematic explanation: turbine wheel shaft B 118, worm shaft B 119, bearings D 120 be joint body B 116 internal structures, constitute reducing gear and transmit 122 motion to joint body B 116, and joint body B 116 and arm body 132 can be relatively rotated.Also there is similar means at place, electric rotating machine D 123 places, and joint body C 131 and arm body 132 are relatively rotated.
The decelerator in wing body 124 of rotatablely moving of wing portion mechanism motion explanation: motor cabinet C 125 passes to rotating output shaft 130, and along with the rotation of rotating output shaft 130, hand organization, wrist mechanism, arm mechanism and wing portion mechanism all will rotate thereupon.
Claims (8)
1. the multi-functional explosive based on long-range blasting technique is settled manipulator, the motion that comprises hand organization and be used to drive hand organization, it is characterized in that: described hand organization includes a joint body A (110), and the front portion of joint body A (110) is provided with clamping device; Described motion comprises wrist mechanism, arm mechanism and wing portion mechanism; Described wrist mechanism comprises joint body B (116), the front portion of joint body B (116) is provided with a shaft-like slide rail (127), central axis at shaft-like slide bar (127) is offered through hole, be provided with bar shaped slide block (128) in the through hole, the rear portion of bar shaped slide block (128) is provided with the leading screw propulsion assembly, also is provided with first worm-and-wheel gear that is used to drive the bending of wrist mechanism on the described joint body B (116); Described arm mechanism comprises arm body (132), the front portion of arm body (132) and joint body B (116) are hinged, the rear portion of arm body (132) is hinged with joint body C (131), and joint body C (131) is provided with and is used for the second crooked worm-and-wheel gear of actuating arm body (132); Described wing portion mechanism comprises wing body (124) and is located at the interior rotation output mechanism of wing body (124) that the rotating output shaft (130) of rotation output mechanism is fixedlyed connected with joint body C (131);
The joint body A (110) of described hand organization is nested on the shaft-like slide rail (127) of wrist mechanism, and the bar shaped slide block (128) in joint body A (110) and the shaft-like slide rail (127) is connected.
2. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: described joint body A (110) is connected by the interior bar shaped slide block (128) of axial pass trough and shaft-like slide rail (127) that is opened on the shaft-like slide rail (127).
3. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: the leading screw propulsion assembly at described bar shaped slide block (128) rear portion comprises lead screw shaft (129) and electric rotating machine B (133), electric rotating machine B (133) is located at lead screw shaft (129) rear portion and rotates to drive lead screw shaft (129), described bar shaped slide block (128) inside is axially arranged with screwed hole, and lead screw shaft (129) cooperates to drive bar shaped slide block (128) with the screwed hole of bar shaped slide block (128) inside slides vertically.
4. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: described clamping device comprises a position-arresting disk (100), position-arresting disk (100) is gone up and evenly is provided with a plurality of holding fingers (101) by draw-in groove, the rear side of position-arresting disk (100) is provided with cam disc (102), the front end card of cam disc (102) is provided with multiple tracks helical form slideway, the rear end of a plurality of holding fingers (101) is stuck in the helical form slideway of cam disc (102), cam disc axle (104) on the described cam disc (102) is connected with turbine wheel shaft A (107) by bearing A (105) and shaft coupling (106), turbine wheel shaft A (107) is installed in the joint body A (110), the worm shaft A (109) that cooperates with turbine wheel shaft A (107) also is installed in the joint body A (110), and described worm shaft A (109) is driven by electric rotating machine A (111); Described position-arresting disk (100) is also fixedlyed connected with joint body A (110) by a plurality of stators (103).
5. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: the rear end of described joint body A (110) is provided with linear electric motors (115), described turbine wheel shaft A (107), shaft coupling (106) and cam disc axle (104) axis are hollow, the center of position-arresting disk (100) offers a through hole, and the main shaft of described linear electric motors (115) passes the quill shaft of turbine wheel shaft A (107), shaft coupling (106) and cam disc axle (104) successively and passes through the front side of the central through hole of position-arresting disk (100) to position-arresting disk (100).
6. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: described first worm-and-wheel gear comprises turbine wheel shaft B (118) and the scroll bar axle B (119) that is installed in the joint body B (116) and cooperatively interacts, described turbine wheel shaft B (118) is located at the jointed shaft position between joint body B (116) and the arm body (132), joint body B (116) upper end is provided with electric rotating machine C (122), and described scroll bar axle B (119) is driven by electric rotating machine C (122).
7. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: described second worm-and-wheel gear comprises turbine wheel shaft and the scroll bar axle that is installed in the joint body C (131) and cooperatively interacts, described turbine wheel shaft is located at the jointed shaft position between joint body C (131) and the arm body (132), joint body C (131) upper end is provided with electric rotating machine D (123), and described scroll bar axle is driven by electric rotating machine D (123).
8. multi-functional explosive according to claim 1 is settled manipulator, it is characterized in that: described rotation output mechanism is made up of one speed reducer and electric rotating machine E (126), the output shaft of described electric rotating machine E (126) is connected with the power shaft of accelerator, and the output shaft of decelerator is rotating output shaft (130).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020188525XU CN201736218U (en) | 2010-05-12 | 2010-05-12 | Multifunctional explosive setting manipulator based on remote blasting technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020188525XU CN201736218U (en) | 2010-05-12 | 2010-05-12 | Multifunctional explosive setting manipulator based on remote blasting technique |
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| CN201736218U true CN201736218U (en) | 2011-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020188525XU Expired - Fee Related CN201736218U (en) | 2010-05-12 | 2010-05-12 | Multifunctional explosive setting manipulator based on remote blasting technique |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN103341857A (en) * | 2013-06-24 | 2013-10-09 | 苏州速腾电子科技有限公司 | Feeding mechanical hand |
| CN103406913A (en) * | 2013-08-05 | 2013-11-27 | 江苏大学 | Three-jaw manipulator formed by three crank-slider mechanisms |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104440932A (en) * | 2014-11-28 | 2015-03-25 | 金石机器人常州有限公司 | Combined servo drive gripper with floating function |
| CN105415395A (en) * | 2016-01-14 | 2016-03-23 | 于海滨 | Two-shaft mechanical clamping device capable of achieving free direction changing |
| CN105645101A (en) * | 2015-12-22 | 2016-06-08 | 济南陆枋志合信息技术有限公司 | Solar water heater water tank clamping tool |
| RU170704U1 (en) * | 2016-05-27 | 2017-05-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный технический университет" (ВолгГТУ) | DEVICE FOR INTUITIVE COPYING OF A SINGLE BUCKET EXCAVATOR |
| CN107110630A (en) * | 2014-10-15 | 2017-08-29 | 智利国家铜公司 | Mechanism for carrying, handling and placing blast cones used to release overhanging rocks in underground mines |
| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN109079770A (en) * | 2018-10-15 | 2018-12-25 | 广东工业大学华立学院 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN112621756A (en) * | 2020-12-18 | 2021-04-09 | 程小龙 | Wisdom mill automatic feeding robot based on 5G network |
| CN113319843A (en) * | 2021-06-07 | 2021-08-31 | 黑龙江阿尔萨斯科技有限公司 | Dexterous robot arm and using method thereof |
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- 2010-05-12 CN CN201020188525XU patent/CN201736218U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN103341857A (en) * | 2013-06-24 | 2013-10-09 | 苏州速腾电子科技有限公司 | Feeding mechanical hand |
| CN103406913B (en) * | 2013-08-05 | 2016-08-10 | 江苏大学 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
| CN103406913A (en) * | 2013-08-05 | 2013-11-27 | 江苏大学 | Three-jaw manipulator formed by three crank-slider mechanisms |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN107110630B (en) * | 2014-10-15 | 2019-05-03 | 智利国家铜公司 | Mechanism for carrying, handling and placing explosive cones for releasing overhanging rock in underground mines |
| CN107110630A (en) * | 2014-10-15 | 2017-08-29 | 智利国家铜公司 | Mechanism for carrying, handling and placing blast cones used to release overhanging rocks in underground mines |
| CN104440932A (en) * | 2014-11-28 | 2015-03-25 | 金石机器人常州有限公司 | Combined servo drive gripper with floating function |
| CN104440932B (en) * | 2014-11-28 | 2015-11-11 | 金石机器人常州有限公司 | The combination handgrip with float function of servo-drive |
| CN105645101A (en) * | 2015-12-22 | 2016-06-08 | 济南陆枋志合信息技术有限公司 | Solar water heater water tank clamping tool |
| CN105645101B (en) * | 2015-12-22 | 2018-09-25 | 嘉兴日雅光电有限公司 | A kind of solar water heater water tank clamping tooling |
| CN105415395A (en) * | 2016-01-14 | 2016-03-23 | 于海滨 | Two-shaft mechanical clamping device capable of achieving free direction changing |
| RU170704U1 (en) * | 2016-05-27 | 2017-05-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный технический университет" (ВолгГТУ) | DEVICE FOR INTUITIVE COPYING OF A SINGLE BUCKET EXCAVATOR |
| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN109079770A (en) * | 2018-10-15 | 2018-12-25 | 广东工业大学华立学院 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN112621756A (en) * | 2020-12-18 | 2021-04-09 | 程小龙 | Wisdom mill automatic feeding robot based on 5G network |
| CN113319843A (en) * | 2021-06-07 | 2021-08-31 | 黑龙江阿尔萨斯科技有限公司 | Dexterous robot arm and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20120512 |