CN108527339B - Intelligent mechanical arm device - Google Patents
Intelligent mechanical arm device Download PDFInfo
- Publication number
- CN108527339B CN108527339B CN201810522757.5A CN201810522757A CN108527339B CN 108527339 B CN108527339 B CN 108527339B CN 201810522757 A CN201810522757 A CN 201810522757A CN 108527339 B CN108527339 B CN 108527339B
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- China
- Prior art keywords
- frame
- driving
- guiding
- group
- manipulator clamping
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000005507 spraying Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to an intelligent manipulator device which comprises a frame, a plurality of manipulator clamping jaws and a driving mechanism for driving the manipulator clamping jaws to move, wherein a portal frame is arranged on the frame, a containing space is formed by surrounding the portal frame and the frame, the driving mechanism is arranged on one side, far away from the frame, of the portal frame, and the manipulator clamping jaws are positioned in the containing space; the driving mechanism comprises an X-direction driving assembly, a Y-direction driving assembly and a Z-direction driving assembly, wherein the X-direction driving assembly comprises a plurality of X-direction guiding groups, the Y-direction driving assembly comprises at least two Y-direction guiding groups, the Z-direction driving assembly comprises two sliding blocks for controlling the Z-direction movement direction, the gantry is installed on the frame, a plurality of X-direction guiding groups, a plurality of Y-direction guiding groups and the sliding blocks for controlling the Z-direction movement direction are installed on the upper end face of the gantry, the stroke of the reciprocating movement of the manipulator clamping jaw is increased, the operation precision and the operation stability of the manipulator clamping jaw are improved, and the deformation of the manipulator clamping jaw is prevented due to the arrangement of the fixing plate.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent manipulator device.
Background
Surface spraying is a processing procedure for improving the performance and the appearance aesthetic property of a workpiece, for example, after a blank of a plastic part and a metal part is processed and molded, the blank is required to be sent to a spraying area for spraying treatment, and patent document of an authorized bulletin No. CN 207107835U: a workpiece transfer machine has been disclosed for use in spray coating lines, but has the following drawbacks:
1. the movement travel distance of the manipulator is short, so that the number of the workpieces grabbed by the manipulator grabbing device is small, and the production efficiency is low;
2. the operation precision of the manipulator is low, and particularly after the manipulator reciprocates for a certain number of times, the positions of the clamping jaw of the manipulator and the workpiece deviate, so that the workpiece cannot be normally grabbed;
3. deformation phenomenon appears in the manipulator load process, and the deformation of manipulator leads to manipulator grabbing device life to be shorter, causes the problem of production facility cost height.
The existence of the problems can lead the conventionally used manipulator grabbing device to not meet the production requirement and not realize the purpose of automatic production.
Disclosure of Invention
In order to solve the problems of short movement travel distance, low operation precision and manipulator deformation of the manipulator in the prior art, the invention aims to provide an intelligent manipulator device which can enlarge the operation travel of the manipulator and simultaneously improve the operation precision and prevent the manipulator from deforming.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the intelligent manipulator device comprises a frame, a plurality of manipulator clamping jaws and a driving mechanism for driving the manipulator clamping jaws to move, and further comprises a portal frame arranged on the frame, wherein the portal frame and the frame are enclosed to form a containing space, the driving mechanism is arranged on one side, far away from the frame, of the portal frame, and the manipulator clamping jaws are positioned in the containing space;
the driving mechanism comprises an X-direction driving assembly, a Y-direction driving assembly and a Z-direction driving assembly;
the X-direction driving assembly comprises a plurality of X-direction guiding groups used for guiding the manipulator clamping jaw to move along the X direction;
the Y-direction driving assembly comprises Y-direction guiding groups for guiding the clamping jaws of the manipulator to move along the Y direction, the Y-direction guiding groups are arranged on one side of the portal frame far away from the frame, and each X-direction guiding group is connected with the Y-direction guiding groups in a sliding manner;
the Z-direction driving assembly comprises a Z-direction guiding group for guiding the lifting motion of the clamping jaw of the manipulator, the Z-direction guiding group comprises at least two sliding plates and at least two Z-direction guide posts which are arranged at intervals, each sliding plate is connected with the X-direction guiding group in a sliding way, and each Z-direction guide post is at least connected with two sliding plates in a sliding way;
the clamping device comprises a Z-direction guiding group, a plurality of clamping jaws and a fixing plate, wherein the fixing plate is used for bearing the clamping jaws of the plurality of mechanical arms and is connected to the Z-direction guiding group.
Further, the portal frame comprises side plate pieces arranged on two opposite sides of the frame and a top plate piece connected with the side plate pieces, and the driving mechanism is arranged on the top plate piece.
Further, the Y-direction guide group comprises two Y-direction guide rails which are parallel to each other and a Y-direction sliding block connected with the Y-direction guide rails, the Y-direction sliding block is connected with the X-direction guide group, and the two Y-direction guide rails are respectively arranged at two opposite ends of the portal frame.
Further, each X-direction guiding group comprises an X-direction support, at least two X-direction guide rails arranged on the X-direction support and an X-direction sliding block matched with the X-direction guide rails, and the X-direction support is connected with the Y-direction sliding block.
Further, the sliding plate is connected to the X-direction guide rail in a sliding manner through the X-direction sliding block.
Further, the intelligent manipulator device further comprises a Y-direction transmission assembly, the Y-direction transmission assembly comprises a Y-direction transmission rod and a Y-direction driving source used for driving the Y-direction transmission rod to rotate, the Y-direction driving source is arranged on the portal frame, and the Y-direction transmission rod is used for driving the X-direction guide group to translate along the Y-direction guide group.
Further, the Y-direction driving source comprises a Y-direction motor arranged on the portal frame and a first conical spur gear arranged at the output end of the Y-direction motor, the Y-direction transmission rod is provided with a second conical spur gear, and the second conical spur gear is meshed with the first conical spur gear.
The invention has the beneficial effects that: through the portal frame installed at the up end of frame to install a plurality of X guide group and a plurality of Y guide group at the up end of portal frame, make the stroke of manipulator clamping jaw's reciprocating motion increase, improve the operating accuracy and the stability of operation of manipulator clamping jaw simultaneously, the setting of fixed plate prevents the deformation of manipulator clamping jaw.
Drawings
FIG. 1 is a schematic diagram of a front view structure of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic view of a partial structure of the present invention;
FIG. 4 is a schematic view of a left side plan view of the present invention;
FIG. 5 is a schematic view of a Y-direction drive assembly according to the present invention.
The reference numerals include:
1-frame 2-manipulator clamping jaw 3-driving mechanism
31-X-direction guide group 311-X-direction support 312-X-direction guide
313-X-direction slide block 32-Y-direction guide group 321-Y-direction guide
322-Y-direction slider 323-Y-direction transmission component 3231-Y-direction driving source
32311-Y-direction motor 32312-first conical spur gear 3232-Y-direction transmission rod
32321 second conical spur gear 33Z-direction guiding group 331 sliding plate
332-Z direction guide pillar 333-Z direction rotating rod 4-portal frame
41-side plate 42-top plate 5-accommodating space
6-a fixing plate.
Detailed Description
The present invention will be further described with reference to examples and drawings, which are not intended to be limiting, for the understanding of those skilled in the art.
Referring to fig. 1 to 5, the intelligent manipulator device of the present invention includes a frame 1, a plurality of manipulator clamping jaws 2, a driving mechanism 3 for driving the manipulator clamping jaws 2 to move, and a gantry 4 disposed on the frame 1, wherein the gantry 4 and the frame 1 enclose a containing space 5, the driving mechanism 3 is disposed on one side of the gantry 4 far away from the frame 1, and the plurality of manipulator clamping jaws 2 are disposed in the containing space 5;
the driving mechanism 3 comprises an X-direction driving assembly, a Y-direction driving assembly and a Z-direction driving assembly;
the X-direction driving assembly comprises a plurality of X-direction guiding groups 31 for guiding the manipulator clamping jaw 2 to move along the X direction;
the Y-direction driving assembly comprises a Y-direction guiding group 32 for guiding the manipulator clamping jaw 2 to move along the Y direction, the Y-direction guiding group 32 is arranged on one side of the portal frame 4 far away from the frame 1, and each X-direction guiding group 31 is connected with the Y-direction guiding group 32 in a sliding manner;
the Z-direction driving assembly comprises a Z-direction guiding group 33 for guiding the lifting motion of the manipulator clamping jaw 2, the Z-direction guiding group 33 comprises at least two sliding plates 331 and at least two Z-direction guiding columns 332 which are arranged at intervals, each sliding plate 331 is slidably connected to the X-direction guiding group 31, and each Z-direction guiding column 332 is slidably connected with at least two sliding plates 331;
the device also comprises a fixed plate 6 for bearing a plurality of manipulator clamping jaws 2, wherein the fixed plate 6 is connected with the Z-direction guide group 33.
Specifically, in this embodiment, the gantry 4 is disposed at the upper end of the frame 1, the gantry 4 is in an inverted U shape, the plurality of manipulator clamping jaws 2 move in the accommodating space 5, the driving mechanism 3 is mounted at the upper end of the gantry 4, the number of the Y-direction guiding groups 32 is two, the Y-direction guiding groups 32 are respectively disposed at the left and right sides of the upper end face of the gantry 4, the number of the X-direction guiding groups 31 is two, the two X-direction guiding groups 31 are disposed at intervals and are integrally connected through a connecting piece, and simultaneously move along the length direction of the Y-direction guiding groups 32, the arrangement of the gantry 4 has enough space to mount the X-direction guiding groups 31 and the Y-direction guiding groups 32, the X-direction movement stroke of the manipulator clamping jaws 2 is increased, and meanwhile, the arrangement of the plurality of X-direction guiding groups 31 and the plurality of Y-direction guiding groups 32 improves the running stability and running direction accuracy of the manipulator clamping jaws 2.
The number of the sliding plates 331 is two, one of the sliding plates 331 is arranged at the top of the X-direction guide group 31, the other one of the sliding plates is arranged at the bottom of the X-direction guide group 31, the number of the Z-direction guide posts 332 is four, each Z-direction guide post 332 penetrates through the two sliding plates 331, the Z-direction driving motor drives the Z-direction rotating rod 333 to do lifting motion, meanwhile, the fixed plate 6 is driven to do lifting motion, the two sliding plates 331 are arranged at intervals, and the direction has stability when the Z-direction guide posts 332 do lifting motion.
The manipulator clamping jaw 2 is fixed below the fixed plate 6, so that convenience in installation and maintenance is realized, and meanwhile, the manipulator clamping jaw 2 is enabled to move simultaneously.
Through installing portal frame 4 at the up end of frame 1 for the stroke of the reciprocating motion of manipulator clamping jaw 2 increases, through installing a plurality of X guide group 31, a plurality of Y guide group 32 and Z guide group 33 at the top of portal frame 4, makes manipulator clamping jaw 2 all have the stability of direction of operation when X is to, Y is to and Z is to remove respectively, realizes the purpose that improves the operation precision of manipulator clamping jaw 2.
The portal frame 4 comprises side plate pieces 41 arranged on two opposite sides of the frame 1 and a top plate piece 42 connected with the side plate pieces 41, the driving mechanism 3 is arranged on the top plate piece 42, the side plate pieces 41 are shaped like a mouth, the top plate piece 42 is shaped like a mouth, and the top plate piece 42 is formed by processing metal square tubes and has stronger bearing force.
The Y-direction guiding group 32 includes two parallel Y-direction guiding rails 321, each Y-direction guiding rail 321 is provided with a Y-direction sliding block 322, the Y-direction sliding blocks 322 are connected with the X-direction guiding group 31, and the two Y-direction guiding rails 321 are respectively arranged at two opposite ends of the portal frame 4.
Each of the X-direction guide groups 31 includes an X-direction bracket 311, at least two X-direction guide rails 312 provided on the X-direction bracket 311, and an X-direction slider 313 engaged with the X-direction guide rails 312, and the X-direction bracket 311 is connected to the Y-direction slider 322.
The slide plate 331 is slidably connected to the X-direction guide rail 312 via the X-direction slider 313.
The number of the X-direction brackets 311 is two, the X-direction brackets 311 are made of strip-shaped metal tubes, an X-direction guide rail 312 is arranged on the upper end face of each X-direction bracket 311, an X-direction guide rail 312 is arranged on the lower end face of each X-direction bracket 311, four X-direction guide rails 312 are arranged in the embodiment, the number of the sliding plates 311 is two, one sliding plate 311 is in sliding connection with the upper two X-direction guide rails 312 through an X-direction sliding block 313, one sliding plate 311 is in sliding connection with the lower two X-direction guide rails 312 through the X-direction sliding block 313, the accuracy of movement of the manipulator clamping jaw 2 in the X direction is ensured, meanwhile, the two X-direction brackets 311 are connected through two connecting sheets, and the two connecting sheets are respectively positioned at two opposite side ends of the X-direction brackets 311, so that the two X-direction brackets 311 simultaneously move along the Y-direction guide rails 321, and the arrangement of the two Y-direction guide rails 321 further improves the accuracy of movement of the manipulator clamping jaw 2 in the Y direction.
Z is to guide pillar 332 and fixed plate 6 are connected, and fixed plate 6 is trapezoidal platy, and fixed plate 6 is close to one side installation a plurality of manipulator clamping jaw 2 of external spraying transfer chain, and external air pipe connecting piece is installed to fixed plate 6, and external air supply passes through an air pipe connecting piece and a manipulator clamping jaw 2 switch-on, cuts the place of having any article on the fixed plate 6, reduces the weight of fixed plate 6 itself, improves the load weight of manipulator clamping jaw 2, reduces the power consumption.
The intelligent manipulator device further comprises a Y-direction transmission assembly 323, the Y-direction transmission assembly 323 comprises a Y-direction transmission rod 3232 and a Y-direction driving source 3231 for driving the Y-direction transmission rod 3232 to rotate, the Y-direction driving source 3231 is arranged on the portal frame 4, the Y-direction transmission rod 3232 is used for driving the X-direction guide group 31 to translate along the Y-direction guide group 32, two ends of the Y-direction transmission rod 3232 are respectively connected with a chain, and the rotation of the chains drives the X-direction guide group 31 to move in the Y direction, so that the stability of the Y-direction movement is further improved.
The Y-direction driving source 3231 comprises a Y-direction motor 32311 provided on the portal frame 4 and a first conical spur gear 32312 provided at an output end of the Y-direction motor 32311, the Y-direction driving rod 3232 is provided with a second conical spur gear 32321, the second conical spur gear 32321 is meshed with the first conical spur gear 32312, and through the meshing of the gears and the gears, not only is operation precision improved, but also equipment still operates stably when the speed is instantaneously changed during starting and stopping, namely, the motion stability of the manipulator clamping jaw 2 is realized, and the service life and the use precision of the equipment are improved.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (5)
1. The utility model provides an intelligent manipulator device, includes frame (1), a plurality of manipulator clamping jaw (2) and is used for driving actuating mechanism (3) that manipulator clamping jaw (2) removed, its characterized in that: the device is characterized by further comprising a portal frame (4) arranged on the frame (1), wherein the portal frame (4) and the frame (1) are enclosed to form a containing space (5), the driving mechanism (3) is arranged on one side, far away from the frame (1), of the portal frame (4), and the plurality of manipulator clamping jaws (2) are positioned in the containing space (5);
the driving mechanism (3) comprises an X-direction driving assembly, a Y-direction driving assembly and a Z-direction driving assembly;
the X-direction driving assembly comprises a plurality of X-direction guiding groups (31) for guiding the manipulator clamping jaw (2) to move along the X direction;
the Y-direction driving assembly comprises Y-direction guiding groups (32) used for guiding the manipulator clamping jaws (2) to move along the Y direction, the Y-direction guiding groups (32) are arranged on one side, far away from the frame (1), of the portal frame (4), and each X-direction guiding group (31) is connected with the Y-direction guiding groups (32) in a sliding mode;
the Z-direction driving assembly comprises a Z-direction guiding group (33) for guiding the manipulator clamping jaw (2) to move up and down, the Z-direction guiding group (33) comprises at least two sliding plates (331) and at least two Z-direction guide posts (332) which are arranged at intervals, each sliding plate (331) is connected with the X-direction guiding group (31) in a sliding mode, and each Z-direction guide post (332) is at least connected with the two sliding plates (331) in a sliding mode;
the device further comprises a fixed plate (6) for bearing the plurality of manipulator clamping jaws (2), wherein the fixed plate (6) is connected to the Z-direction guide group (33);
the intelligent manipulator device further comprises a Y-direction transmission assembly (323), the Y-direction transmission assembly (323) comprises a Y-direction transmission rod (3232) and a Y-direction driving source (3231) for driving the Y-direction transmission rod (3232) to rotate, the Y-direction driving source (3231) is arranged on the portal frame (4), and the Y-direction transmission rod (3232) is used for driving the X-direction guide group (31) to translate along the Y-direction guide group (32); the Y-direction driving source (3231) comprises a Y-direction motor (32311) arranged on the portal frame (4) and a first conical straight gear (32312) arranged at the output end of the Y-direction motor (32311), the Y-direction driving rod (3232) is provided with a second conical straight gear (32321), and the second conical straight gear (32321) is meshed with the first conical straight gear (32312); the Y-direction transmission rod (3232) is used for driving the X-direction guide group (31) to translate along the Y-direction guide group (32), two ends of the Y-direction transmission rod (3232) are respectively connected with a chain, and the rotation of the chain drives the X-direction guide group (31) to move in the Y direction.
2. The intelligent robot apparatus of claim 1, wherein: the portal frame (4) comprises side plate pieces (41) arranged on two opposite sides of the frame (1) and a top plate piece (42) connected with the side plate pieces (41), and the driving mechanism (3) is arranged on the top plate piece (42).
3. The intelligent robot apparatus of claim 2, wherein: the Y-direction guide group (32) comprises two Y-direction guide rails (321) which are parallel to each other and Y-direction sliding blocks (322) which are connected with the Y-direction guide rails (321), the Y-direction sliding blocks (322) are connected with the X-direction guide group (31), and the two Y-direction guide rails (321) are respectively arranged at two opposite ends of the portal frame (4).
4. The intelligent robot apparatus of claim 3, wherein: each X-direction guiding group (31) comprises an X-direction bracket (311), at least two X-direction guide rails (312) arranged on the X-direction bracket (311) and an X-direction sliding block (313) matched with the X-direction guide rails (312), and the X-direction bracket (311) is connected with the Y-direction sliding block (322).
5. The intelligent robot apparatus of claim 4, wherein: the sliding plate (331) is slidably connected to the X-direction guide rail (312) via an X-direction slider (313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522757.5A CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522757.5A CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108527339A CN108527339A (en) | 2018-09-14 |
| CN108527339B true CN108527339B (en) | 2023-07-28 |
Family
ID=63473046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810522757.5A Active CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527339B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385600A (en) * | 2021-07-05 | 2021-09-14 | 常熟非凡新材股份有限公司 | Three-coordinate movement device for steel ball billet clamping manipulator |
| CN113305255A (en) * | 2021-07-05 | 2021-08-27 | 常熟非凡新材股份有限公司 | Forging stock conveying device for stamping steel balls |
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| EP1566243A1 (en) * | 2004-02-18 | 2005-08-24 | BIG DRUM GmbH | Device for positioning and driving a worktool |
| CN103213121A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Three-freedom-degree table tennis carrying mechanical arm |
| CN203401489U (en) * | 2013-08-19 | 2014-01-22 | 长沙远大住宅工业有限公司 | Automatic die-filling manipulator |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN106113029A (en) * | 2016-07-12 | 2016-11-16 | 诺伯特智能装备（山东）有限公司 | Mechanical arm |
| CN208358805U (en) * | 2018-05-28 | 2019-01-11 | 东莞市铧光自动化机械有限公司 | An intelligent manipulator device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE467781T1 (en) * | 2007-11-12 | 2010-05-15 | Pilz Gmbh & Co Kg | MULTI-AXIS ROBOT FOR HIGH-SPEED APPLICATIONS |
-
2018
- 2018-05-28 CN CN201810522757.5A patent/CN108527339B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1566243A1 (en) * | 2004-02-18 | 2005-08-24 | BIG DRUM GmbH | Device for positioning and driving a worktool |
| CN103213121A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Three-freedom-degree table tennis carrying mechanical arm |
| CN203401489U (en) * | 2013-08-19 | 2014-01-22 | 长沙远大住宅工业有限公司 | Automatic die-filling manipulator |
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN106113029A (en) * | 2016-07-12 | 2016-11-16 | 诺伯特智能装备（山东）有限公司 | Mechanical arm |
| CN208358805U (en) * | 2018-05-28 | 2019-01-11 | 东莞市铧光自动化机械有限公司 | An intelligent manipulator device |
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| CN108527339A (en) | 2018-09-14 |
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