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Publication numberCN203357464 U
Publication typeGrant
Application numberCN 201320359675
Publication date25 Dec 2013
Filing date23 Jun 2013
Priority date23 Jun 2013
Publication number201320359675.6, CN 201320359675, CN 203357464 U, CN 203357464U, CN-U-203357464, CN201320359675, CN201320359675.6, CN203357464 U, CN203357464U
Inventors蒋明安
Applicant四川海普工控技术有限公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Single-arm movable type mechanical arm
CN 203357464 U
Abstract
The utility model relates to a single-arm movable type mechanical arm. The single-arm movable type mechanical arm comprises a clamping mechanism body, a control rod, a limiting block, a contact block, a rotary rolling wheel and two clamping arms, wherein the rotary rolling wheel is installed inside the clamping mechanism body and can rotate along an installing shaft, one end of one clamping arm is fixedly connected with the rotary rolling wheel, one end of the other clamping arm is fixedly connected in the clamping mechanism body, and the other end of one clamping arm and the other end of the other clamping arm form the clamping end. A through hole is further arranged in the clamping mechanism body, one end of the control rod penetrates the through hole to be fixedly connected with the contact block, the other end of the control rod is connected with a drive mechanism, one end face of the contact block is an oblique plane, and the drive mechanism forms a control mechanism controlling the oblique plane of the contact block to be away from the rotary rolling wheel or be close to and abut against the rotary rolling wheel. The single-arm movable type mechanical arm can be used for clamping of a clamped object only through rotation of one clamping arm under the condition that the other clamping arm is not required to rotate, and the application range of the mechanical arm is widened.
Claims(9)  translated from Chinese
1.单臂活动型机械手臂,其特征在于,包括夹持机构本体(I)、控制杆(2)、限位块(3 )、触块(4 )、一个转动滚轮(5 )、两个夹持手臂(6 ),转动滚轮(5 )安装在夹持机构本体(I)内部并能够沿安装轴转动,其中一个夹持手臂(6) —端与转动滚轮(5)固定连接,另一个夹持手臂(6)的一端固定连接在夹持机构本体(I)内,两个夹持手臂(6)的另一端构成夹持端;夹持机构本体(I)内还设有通孔,控制杆(2)—端穿过通孔与触块(4)固定连接,另一端与驱动机构连接,触块(4)的一个端面为斜面并且驱动机构构成控制触块(4)的斜面远离转动滚轮(5)或靠近并顶持转动滚轮(5)的控制机构。 1. The active type robot arm, characterized in that the body includes a clamping mechanism (I), the lever (2), the stopper (3), the contact block (4), a rotating roller (5), two clamping arm (6), rotating the roller (5) mounted on the clamping mechanism body (I) and can be rotated inside the mounting shaft, wherein a clamping arm (6) - end and rotating rollers (5) is fixedly connected, the other One end of the clamping arm (6) is fixedly connected to the clamping mechanism body (I) within, two clamping arms (6) and the other end constituting the gripping end; clamping mechanism body (I) is also provided with a through hole, control rod (2) - through the through hole and the end contact block (4) is fixedly connected, the other end is connected to the driving mechanism, an end surface contact block (4) and a drive mechanism configured for ramp control contact block (4) remote from the inclined surface Turn the wheel (5) and at or near the top of the rotation control mechanism holding the wheel (5).
2.根据权利要求1所述的单臂活动型机械手臂,其特征在于,所述控制杆的外壁上具有凸出构成的限位块(3 ),限位块(3 )位于通孔与驱动机构之间。 The active type robot arm according to claim 1, characterized in that said control lever has a convex outer wall composed of the stopper (3), the stopper (3) located in the through-hole and the drive between institutions.
3.根据权利要求2所述的单臂活动型机械手臂,其特征在于,所述限位块(3)为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块(3)与通孔的中心轴重合,并且限位块(3)最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 The active type robot arm according to claim 2, characterized in that said stopper (3) along the outer wall of the lever radially projecting ring structure, or into several direction control the outer wall of the rod projecting radially and uniformly distributed bumps; stopper central axis (3) coincides with the through hole, and the stopper (3) end face of the outermost end of the lever to the center axis through a distance greater than the length of the length of the radius of the hole.
4.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述触块(4)的截面为直角梯形,控制杆(2)—端穿过通孔与触块(4)的截面的下底所在的端面固定连接。 1 according to one of the active type robot arm according to any of claim 3, wherein said contact block (4) of trapezoidal cross-section is a right angle, the control lever (2) - end and through the through hole Lower end surface where the contact block (4) of the cross-section is fixedly connected.
5.根据权利要求4所述的单臂活动型机械手臂,其特征在于,所述直角梯形的斜边与高之间构成的夹角为10 -30。 Activity arm according to claim 4, wherein the mechanical arm, characterized in that the angle formed with the hypotenuse of the right angle trapezoid between high as 10 -30 .
6.根据权利要求5所述的单臂活动型机械手臂,其特征在于,所述直角梯形的斜边与高之间构成的夹角为18。 The active type robot arm according to claim 5, characterized in that the angle formed with the hypotenuse of the right angle trapezoid between high as 18 .
7.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述两个夹持手臂(6 )之间设有弹性机构(8 )。 According to any one of claims 1 to 3, a single arm type robot activities claim, characterized in that the resilient means is provided between the two clamping arms (6) (8).
8.根据权利要求7所述的单臂活动型机械手臂,其特征在于,所述弹性机构(8)为弹黃或弹黃片。 Arm activity according to claim 7, wherein the mechanical arm, wherein said spring means (8) for the spring or spring piece.
9.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述夹持端与被夹持物接触的端面设置有防滑凸纹(9)。 As claimed in any one of claims 1 to 3 wherein the active type robot arm, wherein said gripping end to be clamped in contact with the end face is provided with a non-slip relief (9).
Description  translated from Chinese

单臂活动型机械手臂 Activity type robot arm

技术领域 FIELD

[0001] 本实用新型涉及一种单臂活动型机械手臂。 [0001] The utility model relates to a mechanical arm arm activity.

背景技术 BACKGROUND

[0002] 用于再现人手的的功能的技术装置称为机械手。 Technical means [0002] for reproduction function is called human hand robot. 机械手是模仿着人手的部分动作,按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。 Robot is part of imitating the action of manpower, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanism. 在工业生产中应用的机械手被称为工业机械手。 In industrial production applications is called industrial robot manipulator. 工业机械手是近代自动控制领域中出现的一项新技术,并已成为现代机械制造生产系统中的一个重要组成部分,这种新技术发展很快,逐渐成为一门新兴的学科一机械手工程。 Industrial robot is a new technology in the field of modern automatic control emerged and has become a modern machinery manufacturing system is an important part of this new technology has developed rapidly, becoming a new discipline of a robot project. 机械手涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域,是一门跨学科综合技术。 Robot comes to the field of science mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology, is an interdisciplinary integrated technology.

[0003] 工业机械手是近几十年发展起来的一种高科技自动生产设备。 [0003] In recent decades the industrial robot is developed in a high-tech automated production equipment. 工业机械手也是工业机器人的一个重要分支。 Industrial robot is an important branch of industrial robots. 他的特点是可以通过编程来完成各种预期的作业,在构造和性能上兼有人和机器各自的优点,尤其体现在人的智能和适应性。 His characteristics can be programmed to perform a variety of jobs expected, the merits of both man and machine in the structure and performance, especially embodied in human intelligence and adaptability. 机械手作业的准确性和环境中完成作业的能力,在国民经济领域有着广泛的发展空间。 The accuracy and the ability to work in environments robot to complete the job in the field of the national economy has a broad space for development.

[0004] 机械手的发展是由于它的积极作用正日益为人们所认识:其一、它能部分的代替人工操作;其二、它能按照生产工艺的要求,遵循一定的程序、时间和位置来完成工件的传送和装卸;其三、它能操作必要的机具进行焊接和装配,从而大大的改善了工人的劳动条件,显著的提高了劳动生产率,加快实现工业生产机械化和自动化的步伐。 [0004] developed a robot because of its positive role being increasingly being recognized as follows: First, it can replace some of the manual operation; secondly, it can in accordance with the requirements of the production process, to follow certain procedures, time and location completion of the transfer and handling of the workpiece; Third, it can operate the necessary equipment for welding and assembly, which greatly improved the working conditions of workers, significantly increased labor productivity, accelerate industrial production mechanization and automation of pace. 因而,受到很多国家的重视,投入大量的人力物力来研究和应用。 Thus, the attention of many countries, a lot of manpower and resources to research and applications. 尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合,应用的更为广泛。 Especially in high temperature, high pressure, dust, noise, and the case of radioactive contamination and, more widely applied. 在我国近几年也有较快的发展,并且取得一定的效果,受到机械工业的重视。 In China in recent years have developed rapidly and achieved certain results by machinery industry attention.

[0005] 机械手是工业自动控制领域中经常遇到的一种控制对象。 [0005] A robot is a control object in the field of industrial automation often encountered. 机械手可以完成许多工作,如搬物、装配、切割、喷染等等,应用非常广泛。 The robot can perform many tasks, such as moving objects, assembly, cutting, spray dye, etc., is widely used. 在现代工业中,生产过程中的自动化已成为突出的主题。 In modern industry, automation of the production process has become a prominent theme. 各行各业的自动化水平越来越高,现代化加工车间,常配有机械手,以提高生产效率,完成工人难以完成的或者危险的工作。 Increasing the level of automation industries, modern processing plant, often with a robot, in order to improve production efficiency, the completion of workers difficult or dangerous work to complete. 夹持机构是机械手最重要的组成部分之一,通过夹持机构,机械手才能稳固、准确的进行抓取和移动的操作。 Clamping mechanism is one of the most important components of the robot, by a clamping mechanism, the robot can be securely and accurately performed grab and move operations. 机械手的机械夹持器多为双指手抓式,按其手抓的运动方式可分为平移型和回转型。 Mechanical robot gripper mostly two-finger grasping style, grasping their movement can be divided into translational and rotary type. 回转型手抓有可分为单支点和双支点回转型,按夹持方式可以分为外夹式和内撑式。 There can transition back into a single clutch and full pivot back to the transition, according to the holder can be divided into external and internal support clamp-on style. 但是,现有的夹持机构中,一般都是两个机械手臂同时转动对被夹持物进行夹紧,然后移动。 However, the conventional clamping mechanism, are generally of two mechanical arms and rotate the clamped clamping object, and then move. 作为部分特殊情况下的应用,两个机械手臂只需要一个转动对被夹持物进行夹紧,而另一个不需要转动。 As part of the special circumstances apply, the two robotic arms to rotate only one thing to be clamped clamping, while the other does not need to rotate.

实用新型内容 Practical new content

[0006] 本实用新型所要解决的技术问题是提供一种单臂活动型机械手臂,该机械手臂能够用于只需要一个转动对被夹持物进行夹紧,而另一个不需要转动的情况,扩大了机械手臂的应用范围。 [0006] The technical problem to be solved by the present utility model is to provide an active type robot arm, the robot can be used only a rotating object to be clamped is clamped, and the situation of the other need not be rotated, expanding the application range of the robot arm.

[0007] 本实用新型解决上述技术问题所采用的技术方案是:单臂活动型机械手臂,包括夹持机构本体、控制杆、限位块、触块、一个转动滚轮、两个夹持手臂,转动滚轮安装在夹持机构本体内部并能够沿安装轴转动,其中一个夹持手臂一端与转动滚轮固定连接,另一个夹持手臂的一端固定连接在夹持机构本体内,两个夹持手臂的另一端构成夹持端;夹持机构本体内还设有通孔,控制杆一端穿过通孔与触块固定连接,另一端与驱动机构连接,触块的一个端面为斜面并且驱动机构构成控制触块的斜面远离转动滚轮或靠近并顶持转动滚轮的控制机构。 Technical Solution [0007] The utility model is used to solve the above technical problem is: active type robot arm, comprising clamping mechanism body, a control lever, the stopper, the contact block, a rotating wheel, two clamping arms, rotatable rollers mounted on the clamping mechanism can be mounted inside the body and the shaft is rotated, wherein one end of the clamping arm is fixedly connected with the rotary wheel, one end of the other gripping arm fixedly connected to the clamping mechanism of the body, two clamping arms and the other end constituting the gripping end; the body of the clamping mechanism also has a through hole, one end of the lever through the through hole and the contact block is fixed and the other end connected to the driving mechanism, an end surface of the contact block is beveled and configured to control the drive mechanism Touch blocks away from the rotating bevel wheel or near the top and hold the wheel rotation control mechanism.

[0008] 进一步地,所述控制杆的外壁上具有凸出构成的限位块,限位块位于通孔与驱动机构之间。 The outer wall of the [0008] Further, the control rod having a stopper convex configuration, the stopper is located between the through-hole and the drive mechanism.

[0009] 所述限位块为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块与通孔的中心轴重合,并且限位块最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 [0009] The stopper lever along the outer wall of the radially projecting ring structure, or into several along the outer wall of the control rod and uniformly distributed radially projecting lugs; stopper and through the central axis of the hole coincides, and the outermost end of the end face of the stop block to the center axis of the control rod from a length greater than the length of the radius of the through hole.

[0010] 所述触块的截面为直角梯形,控制杆一端穿过通孔与触块的截面的下底所在的端面固定连接。 [0010] cross-section at right angles to said contact block is trapezoidal, the control lever is located at one end through the lower end section of the through hole and the end face of the fixed contact block is connected. 触块的截面为直角梯形是便于对触块的加工,实际上,只要保证与滚动滑轮接触的面是斜面,对梯形的另一个面并没有要求,作为扩展,还可以是等腰梯形或者普通的梯形。 Cross section of a right angle trapezoid contact block is to facilitate contact of the processing block, in fact, as long as the surface in contact with the scroll wheel is a bevel, the other surface of the trapezium does not require, as an extension, may also be an isosceles trapezoid or ordinary trapezoid.

[0011] 所述直角梯形的斜边与高之间构成的夹角为10 -20。 [0011] The angle formed between the oblique side and the high angle trapezoidal to 10 -20 . 作为优选,所述直角梯形的斜边与高之间构成的夹角为18。 Advantageously, the angle formed between the hypotenuse of the right angle trapezoidal high as 18 .

[0012] 所述两个夹持手臂之间设有弹性机构。 An elastic body between the [0012] The two clamping arm. 所述弹性机构为弹簧或弹簧片。 Spring or spring sheet for the elastic mechanism.

[0013] 所述夹持端与被夹持物接触的端面设置有防滑凸纹。 [0013] The gripping end clamped in contact with the end face is provided with a non-slip relief. 防滑凸纹将夹持端与被夹持物接触的端面设置为凹凸相间的结构即可,可以是规则的凹凸相间的形状,如波浪形、锯齿形等,也可以是各种不规则的形状,这只防滑凸纹后,能够增大机器手夹持端与被夹持物之间的摩擦力,较好的解决了被夹持物容易脱落的问题。 Non-slip gripping ridges will end in contact with the end surface of the holding structure can be set to unevenness and white, and may be the shape of irregularities white rules, such as wavy, zigzag, etc., may also be a variety of irregular shapes, After only slip embossed, hand gripping the machine can increase the friction material is sandwiched between the end, the better solution is easy to fall off the question gripping objects.

[0014] 本实用新型的有益效果是: [0014] The utility model has the advantages are:

[0015] 1、本实用新型能够用于只需要一个转动对被夹持物进行夹紧,而另一个不需要转动的情况,扩大了机械手臂的应用范围。 [0015] 1, the utility model can be used only on a rotating object clamped clamping, and the situation does not need another rotation, expanding the scope of application of the mechanical arm.

[0016] 2、本实用新型的触块与转动滚轮之间为滚动摩擦,摩擦力小,对工件的损害较小,并且结构简单,便于控制;为了防止驱动机构带动控制杆前进的距离过长,在控制杆的外壁上具有凸出构成的限位块,当控制杆前进到一定的距离时,限位块就会卡在通孔的位置处,使得控制杆不能够继续前进,对夹持架构夹持端的控制更加精确。 [0016] 2, contact between the utility model blocks and rotate the wheel rolling friction, friction is small, the smaller the damage to the workpiece, and the structure is simple, easy to control; in order to prevent the control rod drive mechanism to drive long distances ahead , on the outer wall of the control rod has a convex configuration of the stopper, when the control lever is advanced to a certain distance, the limit position will be stuck in the through-hole blocks, so that the lever can not move, for clamping gripping end control architecture is more accurate.

[0017] 3、本实用新型在夹持端与被夹持物接触的端面设置有防滑凸纹,能够增大机器手夹持端与被夹持物之间的摩擦力,较好的解决了被夹持物容易脱落的问题。 [0017] 3, the utility model is set at the grip end is held in contact with the end face of a non-slip embossed, can increase friction robotic gripping end and clamped between things, the better solution is sandwiched hold things off easily issue.

附图说明 Brief Description

[0018] 图1是本实用新型的结构示意图; [0018] Figure 1 is a schematic diagram of the structure of the utility model;

[0019] 图2是本实用新型实施例2的结构示意图。 [0019] FIG. 2 is a schematic structural view of the present utility model in Example 2.

[0020] 图中标号对应的零部件名称是:1_夹持机构本体,2-控制杆,3-限位块,4-触块,5-转动滚轮,6-夹持手臂,7-紧固螺栓,8-弹性机构,9-防滑凸纹。 [0020] reference numeral corresponding component names are: 1_ body clamping mechanism, lever 2-, 3- stopper, 4 contact blocks, 5 rotating wheel clamping arm 6-, 7-tight solid bolts, 8- elastic mechanism, 9 skid ridges.

具体实施方式[0021] 实施例1: DETAILED DESCRIPTION [0021] Example 1:

[0022] 如图1所示,本实施例的单臂活动型机械手臂包括夹持机构本体1、控制杆2、限位块3、触块4、一个转动滚轮5、两个夹持手臂6,转动滚轮5安装在夹持机构本体I内部并能够沿安装轴转动,其中一个夹持手臂6 —端与转动滚轮5固定连接,另一个夹持手臂6的一端固定连接在夹持机构本体I内,两个夹持手臂6的另一端构成夹持端;夹持机构本体I内还设有通孔,控制杆2 —端穿过通孔与触块4固定连接,另一端与驱动机构连接,触块4的一个端面为斜面并且驱动机构构成控制触块4的斜面远离转动滚轮5或靠近并顶持转动滚轮5的控制机构。 [0022] 1, the active-type robot arm according to this embodiment includes a clamping mechanism body 1, a lever 2, stopper 3, the contact block 4, a rotating wheel 5, two clamping arms 6 , rotating the roller 5 is mounted on the clamping mechanism inside the body I and can be rotated in the mounting shaft, wherein a clamping arm 6 - end fixedly connected with the rotary wheel 5, the other end of the clamping arm 6 is fixedly connected to the clamping mechanism body I inside, the other end of the two clamping arms 6 constituting gripping ends; I within the clamping mechanism body has through-holes, the control lever 2 - terminal through the through hole and the contact block 4 is fixed and the other end connected to the drive mechanism , an end surface of the contact block 4 and the drive mechanism for the ramp structure of a control contact block away from the inclined surface 4 of the wheel 5 is rotated and the top or near the rotating wheel holding control mechanism 5. 控制杆的外壁上具有凸出构成的限位块3,限位块3位于通孔与驱动机构之间;限位块3为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块3与通孔的中心轴重合,并且限位块3最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 The outer wall of the control rod has a convex configuration of the stopper 3, the stopper 3 is located between the through-hole and the drive mechanism; stopper lever 3 along the outer wall of the radially projecting ring structure, or for a plurality of control rod along the outer wall of the radially projecting and uniformly distributed bumps; stopper 3 and the central axis coincides with the through hole, and the stopper 3 to the outermost end of the end face of the center axis of the control lever through a distance greater than the length of the length of the radius of the hole.

[0023] 所述触块4的截面为直角梯形,控制杆2 —端穿过通孔与触块4的截面的下底所在的端面固定连接,直角梯形的斜边与高之间构成的夹角为10 -30优选为18。 [0023] The contact block 4 is a cross-sectional right angle trapezoidal lever 2 - where the bottom end through the lower section of the through hole and the end face of the contact block 4 is fixedly connected to form the hypotenuse of a right angle trapezoid and sandwiched between high angle of 10 -30 preferably 18 . 试验发现,在角度为18时,驱动机构驱动控制杆前进时,最容易带动转动滚轮5转动,并且此时驱动机构的输出功率最小。 It was found that at an angle of 18 , the drive mechanism drives the control rod is advanced, most likely driven rotating wheel 5 is rotated, and at this time the minimum output power of the drive mechanism. 可以对机器手起到较好的控制。 You can play a better robot control.

[0024] 所述两个夹持手臂6之间设有弹性机构8,弹性机构8为弹簧或弹簧片。 [0024] The elastic body has two clamping arms between 6 and 8, the elastic mechanism 8 for spring or spring piece.

[0025] 本实施例的单臂活动型机械其工作过程如下: Mechanical arm activity [0025] This embodiment of the working process is as follows:

[0026] 当驱动机构带动控制杆前进时,通过触块4的斜面和转动滚轮5接触,驱动机构带动控制杆继续前进,触块4的斜面在摩擦力的作用下带动转动滚轮5转动,转动滚轮5带动夹持手臂6转动并使得夹持手臂6的夹持端靠近另一个固定设置的夹持手臂6,可以将被夹持物夹紧,当触块4向后移动时,通过弹性机构的弹力使得两个夹持手臂6的夹持端松开。 [0026] When the control rod drive mechanism to drive forward, by touching the block rotation of the wheel and the inclined plane 4 5 contact, the drive mechanism to drive the lever to move, touch bevel block 4 in the role of friction drive wheel rotates five rotation, rotation the roller 5 is rotated and driven such that the clamping arm 6 holding arm adjacent the other gripping end 6 of the fixed clamping arm 6 disposed, a clamped object can be clamped, when the contact block 4 moves backward by the elastic bodies Stretch makes two clamping arm gripping end 6 release. 由于触块与转动滚轮之间为滚动摩擦,摩擦力小,对工件的损害较小,并且结构简单,便于控制。 Since the contact between the block and the rotating wheel is rolling friction, friction is small, damage to the workpiece is small, and simple structure, easy to control. 为了防止驱动机构带动控制杆前进的距离过长,在控制杆的外壁上具有凸出构成的限位块3,当控制杆前进到一定的距离时,限位块就会卡在通孔的位置处,使得控制杆不能够继续如进,对夹持架构夹持端的控制更加精确。 In order to prevent the control rod drive mechanism to drive forward the distance is too long, the outer wall of the control rod has a convex configuration of the stopper 3, when the control lever is advanced to a certain distance, the stopper will be stuck in the position of the through hole place, so that the control lever is not able to continue as forward, more precise control of the holding structure of the clamping end.

[0027] 实施例2: [0027] Example 2:

[0028] 参见图2所示,本实施例在实施例1的基础上,夹持端与被夹持物接触的端面设置有防滑凸纹9。 [0028] See Fig. 2, the present embodiment on the basis of Example 1, the gripping ends with end surfaces contacting the material to be clamped provided with non-slip embossed 9.

[0029] 如上所述,可以较好的实施本实用新型。 [0029] As described above, preferred embodiments of the utility model.

Referenced by
Citing PatentFiling datePublication dateApplicantTitle
CN103433936A *23 Jun 201311 Dec 2013四川海普工控技术有限公司Industrial mechanical arm with single-arm rotation clamping function
CN103817691A *6 Mar 201428 May 2014深圳先进技术研究院Orthodontic instrument preparing robot and manipulator thereof
CN103817691B *6 Mar 20143 Jun 2015深圳先进技术研究院Orthodontic instrument preparing robot and manipulator thereof
CN104626158A *27 Jan 201520 May 2015上海爱望自动化设备制造有限公司Modified manipulator
Classifications
International ClassificationB25J15/10
Legal Events
DateCodeEventDescription
25 Dec 2013C14Grant of patent or utility model
12 Aug 2015EXPYTermination of patent right or utility model