CN103802090A - Dual-arm carrying manipulator - Google Patents
Dual-arm carrying manipulator Download PDFInfo
- Publication number
- CN103802090A CN103802090A CN201210445436.2A CN201210445436A CN103802090A CN 103802090 A CN103802090 A CN 103802090A CN 201210445436 A CN201210445436 A CN 201210445436A CN 103802090 A CN103802090 A CN 103802090A
- Authority
- CN
- China
- Prior art keywords
- forearm
- arm
- shaft assembly
- arms
- large arm
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a dual-arm carrying manipulator which comprises a base, a waist seat, mechanical arms and tail end components, wherein the waist seat is rotatably mounted on the base in a liftable way; one end of each mechanical arms is rotatably connected onto the waist seat, and the other ends of the mechanical arms are rotatably connected with the tail end components; motors, speed reducers and shaft assemblies are fixed in the waist seat, and the roots of the mechanical arms are mounted on the shaft assemblies by bearings. According to the dual-arm carrying manipulator, the speed reducers of the mechanical arms are placed at other positions of the waist seat instead of the roots of big arms in the prior art, the big arms are not in direct contact with the speed reducers and are mounted on the waist seat by at least two groups of bearings and shaft assemblies, and the speed reducers drive belt wheels and synchronous belts to indirectly drive the big arms to rotate. The bearings are used for replacing the speed reducers to bear gravity bending moment, and the anti-bending arm of force of the manipulator is further improved by increasing the distance of the bearings, so that the gravity bending moment of the heavy-load manipulator is balanced.
Description
Technical field
The present invention relates to a kind of manipulator mechanism using in industrial handover object process, relate in particular to a kind of both arms conveying robot.
Background technology
The both arms of existing both arms conveying robot are generally installed reductor at large arm roots, bear the load moment of flexure that transmitting torque and arm gravity produce.But along with the develop rapidly of industrial technology and the continuous lifting of industrial production demand, the specification of board carrying is increasing.In order to increase the load capacity of both arms conveying robot, need to use at large arm roots accordingly the reductor of larger specification, the load gravity bending moment producing to bear larger transmitting torque and arm gravity.But the reductor of large specification involves great expense, and exceeds 2 ~ 7 times with respect to the price of common specification reductor.Therefore, how to use the reductor of plain bearing and common specification, the heavy load carrying function that realizes both arms conveying robot becomes a difficult problem urgently to be resolved hurrily.
Summary of the invention
The object of the present invention is to provide and a kind ofly use common specification reductor can realize the both arms conveying robot with high load capability.
For achieving the above object, the present invention is by the following technical solutions:
A kind of both arms conveying robot, comprises base, waist seat, mechanical arm and terminal link;
Described waist seat liftable and being arranged on rotatably on base;
Described mechanical arm has two, and one end of mechanical arm is rotatably connected on waist seat, the other end terminal link that is rotatably connected;
Described waist seat inside is fixed with the first motor, the second motor, the first reductor, the second reductor, the first shaft assembly and the second shaft assembly, the root of two mechanical arms is arranged on the first shaft assembly and the second shaft assembly by bearing respectively, and respectively take the first shaft assembly and the second shaft assembly as axis of rotation, bearing on each shaft assembly has two groups at least, and described at least two group bearings are arranged at respectively the first half and the latter half of shaft assembly; The input of the first reductor is connected with the first motor-driven, and output is connected with the root indirect drive of a mechanical arm, and the input of the second reductor is connected with the second motor-driven, and output is connected with the root indirect drive of another mechanical arm.
Described at least two group bearings are arranged at respectively top and the bottom of shaft assembly.
The output of the first reductor is fixedly connected with the first driving pulley, the output of the second reductor is fixedly connected with the second driving pulley, the first driving pulley is in transmission connection by the root of the first Timing Belt and a mechanical arm, and the second driving pulley is in transmission connection by the root of the second Timing Belt and another mechanical arm.
Described mechanical arm comprises large arm and forearm, the root that one end of large arm is mechanical arm, and the other end is connected with forearm coaxial rotating; Described terminal link is rotatably mounted in the end of the forearm of two mechanical arms, and under the driving of two mechanical arms, bearing substrate does rectilinear motion.
On the first shaft assembly and the second shaft assembly, be fixedly connected with large arm fixed pulley, the one end being connected with forearm on the large arm of mechanical arm is fixed with large arm axle assembly, the large arm driven pulley of the rotation take it as axle center is installed by bearing on large arm axle assembly, large arm driven pulley engages with large arm fixed pulley by large arm cog belt, and large arm driven pulley is fixedly connected with forearm;
On large arm axle assembly, be fixedly connected with forearm fixed pulley; the one end being connected with terminal link on forearm is fixed with forearm shaft assembly; the forearm driven pulley of the rotation take it as axle center is installed by bearing on forearm shaft assembly; forearm driven pulley engages with forearm fixed pulley by forearm cog belt, and forearm driven pulley is fixedly connected with terminal link.
Large arm fixed pulley is 2:1 with the gear ratio of large arm driven pulley; the gear ratio of forearm fixed pulley and forearm driven pulley is 1: 2; large arm is contrary with the direction of rotation of forearm; forearm is contrary with the direction of rotation of terminal link, and large arm, forearm and terminal link are that ratio of revolutions is 1 :-2: 1 drive mechanism.
Described terminal link has two, and two mechanical arms connect respectively a terminal link.
Both arms conveying robot of the present invention, by the reductor of the large arm roots of mechanical arm in design being in the past placed on to other positions of waist seat, large arm is not connected with waist seat by reductor, but having the bearing of certain intervals distance and shaft assembly to be arranged on waist seat by least two groups, reductor drives large arm to rotate by driving pulley and Timing Belt indirectly.Utilize bearing to replace reductor to bear gravity bending moment, by increasing the spacing of bearing, further improved the bending resistance arm of force of manipulator, and then realized the gravity bending moment of balance heavy load manipulator again.Because reductor is not directly connected with mechanical arm, the bending resistance arm of force is not provided by reductor, so do not use large specification reductor, only use the reductor of common specification also can realize the both arms conveying robot with high load capability, reach the object reducing costs.
Accompanying drawing explanation
Fig. 1 is the perspective view of the both arms conveying robot of the embodiment of the present invention.
Top view when Fig. 2 is the both arms conveying robot full extension of the embodiment of the present invention.
Fig. 3 is the B-B face cutaway view of Fig. 2.
Fig. 4 is the internal structure top view of the waist seat of the both arms conveying robot of the embodiment of the present invention.
Fig. 5 is the A-A face cutaway view of Fig. 2.
Fig. 6 is the contraction state schematic diagram of the both arms conveying robot of the embodiment of the present invention.
Drawing reference numeral explanation
Base 1 waist seat 2 first mechanical arms 3
The second mechanical arm 4 terminal link 5 first motors 21
The second motor 22 first reductor 23 second reductors 24
The first arm 31 of the first shaft assembly 25 second shaft assembly 26
Second largest arm 41 second forearms 42 of the first forearm 32
The first driving pulley 231 second driving pulley 241 first Timing Belts 230
The first arm driven pulley 312 of the first arm fixed pulley 311 of the second Timing Belt 240
The first arm cog belt 310 first forearm fixed pulley 321 of first arm axle assembly 35
The first forearm shaft assembly 55 first forearm driven pulley 322 first forearm cog belts 320
Clutch shaft bearing 251 second bearing 252 bearing substrates 6
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical scheme of the present invention is further elaborated.
As shown in Figure 1, a kind of both arms conveying robot provided by the invention, comprises base 1, waist seat 2, the first mechanical arm 3, the second mechanical arm 4 and terminal link 5.
Described waist seat 2 is by lift drive mechanism and rotary drive mechanism liftable and be arranged on rotatably on base 1.
Described the first mechanical arm 3 and second mechanical arm 4 one end are rotatably connected on waist seat 2, parallel to each other when the other end is rotatably connected terminal link 5, two mechanical arm full extension, and equal in length.
As shown in Figure 2, described the first mechanical arm 3 comprises first arm 31 and the first forearm 32, and one end of first arm 31 is the root of the first mechanical arm 3, and the other end is connected with the first forearm 32 coaxial rotatings; Described the second mechanical arm 4 comprises second largest arm 41 and the second forearm 42, one end of second largest arm 41 is the root of the second mechanical arm 4, the other end is connected with the second forearm 42 coaxial rotatings, described terminal link 5 is rotatably mounted in the end of the first forearm 32 and the second forearm 42, and under the driving of the first mechanical arm 3 and the second mechanical arm 4, bearing substrate 6 does rectilinear motion.
As shown in Fig. 3, Fig. 4 and Fig. 5, described waist seat 2 inside are installed with the first motor 21, the second motor 22, the first reductor 23, the second reductor 24, the first shaft assembly 25 and the second shaft assembly 26.The root of the first mechanical arm 3 and the second mechanical arm 4 is arranged on the first shaft assembly 25 and the second shaft assembly 26 by two groups of bearings respectively, and respectively take the first shaft assembly 25 and the second shaft assembly 26 as axis of rotation.The input of the first reductor 23 and the first motor 21 are in transmission connection, and output is connected with the root indirect drive of the first mechanical arm 3.The input of the second reductor 24 and the second motor 22 are in transmission connection, and output is connected with the root indirect drive of the second mechanical arm 4.
Concrete, the output of the first reductor 23 is fixedly connected with the first driving pulley 231, the output of the second reductor 24 is fixedly connected with the second driving pulley 241, the first driving pulley 231 is in transmission connection by the root of the first Timing Belt 230 and the first mechanical arm 3, and the second driving pulley 241 is in transmission connection by the root of the second Timing Belt 240 and the second mechanical arm 4.
The internal structure of the first mechanical arm 3 as shown in Figure 5, one end of first arm 31 is rotatably connected on the first shaft assembly 25 by clutch shaft bearing 251 and the second bearing 252, wherein, clutch shaft bearing 251 is positioned at the top of the first shaft assembly 25, and the second bearing 252 is positioned at the bottom of the first shaft assembly 25.Because having increased, the spacing between clutch shaft bearing 251 and the second bearing 252 reaches maximum, and for the first mechanical arm 3 provides the enough large bending resistance arm of force, not bending so the first mechanical arm 3 can bear higher load.
Further, be fixedly connected with first arm fixed pulley 311 on the first shaft assembly 25, the one end being connected with the first forearm 32 on first arm 31 is fixed with first arm axle assembly 35.The first arm driven pulley 312 of the rotation take it as axle center is installed by bearing on first arm axle assembly 35, first arm driven pulley 312 engages with first arm fixed pulley 311 by first arm cog belt 310, and first arm driven pulley 312 is fixedly connected with the first forearm 32.
On first arm axle assembly 35, be fixedly connected with the first forearm fixed pulley 321, the one end being connected with terminal link 5 on the first forearm 32 is fixed with the first forearm shaft assembly 55, the first forearm driven pulley 322 of the rotation take it as axle center is installed by bearing on the first forearm shaft assembly 55, the first forearm driven pulley 322 engages with the first forearm fixed pulley 321 by the first forearm cog belt 320, and the first forearm driven pulley 322 is fixedly connected with terminal link 5.
The inside drive mechanism of the second mechanical arm 4 is identical with the first mechanical arm 3, does not repeat them here.
Below in conjunction with Fig. 5 and Fig. 6, the course of work of the explanation embodiment of the present invention as an example of the first mechanical arm 3 example.
In transmission process, the first motor 21 drives the first reductor 23 to carry out the conversion of rotating speed, the output of the first reductor 23 drives the first driving pulley 231 to rotate, the first driving pulley 231 passes to first arm 31 by the first Timing Belt 230 by power, makes it along the clockwise direction rotation in Fig. 6.Because first arm fixed pulley 311 is meshed with first arm driven pulley 312 by first arm cog belt 310, in first arm 31 rotation processes, the relative position of first arm fixed pulley 311 and first arm driven pulley 312 has produced variation, and the engagement of first arm cog belt 310 is rotated first arm driven pulley 312.This has also just driven first arm 31 and the first forearm 32 to carry out relative rotary motion around first arm axle assembly 35, and first arm fixed pulley 311 forms planet cyclic gear train with first arm driven pulley 312.
Meanwhile, the first forearm driven pulley 322 engages with the first forearm fixed pulley 321 by the first forearm cog belt 320, and the first forearm 32 has also just driven the first forearm 32 and terminal link 5 to carry out relative rotary motion around the first forearm shaft assembly 55 with respect to the rotation of first arm axle assembly 35.In the first forearm 32 take first arm 31 as reference hierarchy, the first forearm fixed pulley 321 and the first forearm driven pulley 322 also form a planet cyclic gear train.Under the effect of these two planet cyclic gear trains, the first forearm 32 moves along the linear telescopic of A-A direction all the time with the axle center that is rotatably connected of terminal link 5.The bearing substrate 6 being carried on terminal link 5 also does rectilinear motion.
It is to be noted, for guaranteeing that the first forearm 32 moves along the linear telescopic of A-A direction all the time with the axle center that is rotatably connected of terminal link 5, first arm fixed pulley 311 is 2:1 with the gear ratio of first arm driven pulley 312, the tooth ratio of the first forearm fixed pulley 321 and the first forearm driven pulley 322 is 1: 2, again because first arm 31 is contrary with the direction of rotation of the first forearm 32, the first forearm 32 is contrary with the direction of rotation of terminal link 5, and first arm 31 and the first forearm 32, terminal link 5 are 1 :-2: the drive mechanism of 1 ratio of revolutions.
Both arms conveying robot of the present invention, by the reductor of the large arm roots of mechanical arm in design being in the past placed on to other positions of waist seat, large arm is not connected with waist seat by reductor, but be arranged on waist seat by least two group bearings and shaft assembly, reductor drives large arm to rotate by driving pulley and Timing Belt indirectly.Utilize bearing to replace reductor to bear gravity bending moment, by increasing the spacing of bearing, further improved the bending resistance arm of force of manipulator, and then realized the gravity bending moment of balance heavy load manipulator again.Because reductor is not directly connected with mechanical arm, the bending resistance arm of force is not provided by reductor, so do not use large specification reductor, only use the reductor of common specification also can realize the both arms conveying robot with high load capability, reach the object reducing costs.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (7)
1. a both arms conveying robot, is characterized in that, comprises base, waist seat, mechanical arm and terminal link;
Described waist seat liftable and being arranged on rotatably on base;
Described mechanical arm has two, and one end of mechanical arm is rotatably connected on waist seat, the other end terminal link that is rotatably connected;
Described waist seat inside is fixed with the first motor, the second motor, the first reductor, the second reductor, the first shaft assembly and the second shaft assembly, the root of two mechanical arms is arranged on the first shaft assembly and the second shaft assembly by bearing respectively, and respectively take the first shaft assembly and the second shaft assembly as axis of rotation, bearing on each shaft assembly has two groups at least, and described at least two group bearings are arranged at respectively the first half and the latter half of shaft assembly; The input of the first reductor is connected with the first motor-driven, and output is connected with the root indirect drive of a mechanical arm, and the input of the second reductor is connected with the second motor-driven, and output is connected with the root indirect drive of another mechanical arm.
2. both arms conveying robot according to claim 1, is characterized in that, described at least two group bearings are arranged at respectively top and the bottom of shaft assembly.
3. both arms conveying robot according to claim 1, it is characterized in that, the output of the first reductor is fixedly connected with the first driving pulley, the output of the second reductor is fixedly connected with the second driving pulley, the first driving pulley is in transmission connection by the root of the first Timing Belt and a mechanical arm, and the second driving pulley is in transmission connection by the root of the second Timing Belt and another mechanical arm.
4. according to the both arms conveying robot described in claim 1,2 or 3, it is characterized in that, described mechanical arm comprises large arm and forearm, the root that one end of large arm is mechanical arm, and the other end is connected with forearm coaxial rotating; Described terminal link is rotatably mounted in the end of the forearm of two mechanical arms, and under the driving of two mechanical arms, bearing substrate does rectilinear motion.
5. both arms conveying robot according to claim 4, it is characterized in that, on the first shaft assembly and the second shaft assembly, be fixedly connected with large arm fixed pulley, the one end being connected with forearm on the large arm of mechanical arm is fixed with large arm axle assembly, the large arm driven pulley of the rotation take it as axle center is installed by bearing on large arm axle assembly, large arm driven pulley engages with large arm fixed pulley by large arm cog belt, and large arm driven pulley is fixedly connected with forearm;
On large arm axle assembly, be fixedly connected with forearm fixed pulley; the one end being connected with terminal link on forearm is fixed with forearm shaft assembly; the forearm driven pulley of the rotation take it as axle center is installed by bearing on forearm shaft assembly; forearm driven pulley engages with forearm fixed pulley by forearm cog belt, and forearm driven pulley is fixedly connected with terminal link.
6. both arms conveying robot according to claim 5, it is characterized in that, large arm fixed pulley is 2:1 with the gear ratio of large arm driven pulley; the gear ratio of forearm fixed pulley and forearm driven pulley is 1: 2; large arm is contrary with the direction of rotation of forearm; forearm is contrary with the direction of rotation of terminal link, and large arm, forearm and terminal link are that ratio of revolutions is 1 :-2: 1 drive mechanism.
7. both arms conveying robot according to claim 6, is characterized in that, described terminal link has two, and two mechanical arms connect respectively a terminal link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445436.2A CN103802090A (en) | 2012-11-08 | 2012-11-08 | Dual-arm carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445436.2A CN103802090A (en) | 2012-11-08 | 2012-11-08 | Dual-arm carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103802090A true CN103802090A (en) | 2014-05-21 |
Family
ID=50699720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210445436.2A Pending CN103802090A (en) | 2012-11-08 | 2012-11-08 | Dual-arm carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103802090A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440868A (en) * | 2014-12-05 | 2015-03-25 | 南京埃尔法电液技术有限公司 | Intermediate conveyance manipulator |
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN106926222A (en) * | 2017-04-28 | 2017-07-07 | 西安航空学院 | Apery dual-arm robot |
| CN109366509A (en) * | 2018-12-04 | 2019-02-22 | 北京勤牛创智科技有限公司 | A kind of heavy load manipulator and sorting system |
| CN111376232A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Both arms transfer robot |
| CN113414759A (en) * | 2021-07-02 | 2021-09-21 | 珠海格力电器股份有限公司 | Robot |
| CN114436175A (en) * | 2022-01-10 | 2022-05-06 | 中国船舶重工集团公司第七一六研究所 | Articulated automatic pallet fork for carrying articles |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6199444B1 (en) * | 1998-07-29 | 2001-03-13 | Janome Sewing Machine Co., Ltd. | Robot having multi-joint arms movable in horizontal plane |
| JP2003019687A (en) * | 2001-07-03 | 2003-01-21 | Aitec:Kk | Driving device of robot hand |
| JP2007130733A (en) * | 2005-11-14 | 2007-05-31 | Hirata Corp | Double arm row type substrate conveying robot |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| CN101711429A (en) * | 2007-04-06 | 2010-05-19 | 布鲁克斯自动化公司 | Substrate transport apparatus with multiple independently movable articulated arms |
| CN101790441A (en) * | 2007-08-31 | 2010-07-28 | 日本电产三协株式会社 | Industrial robot |
| CN202895222U (en) * | 2012-11-08 | 2013-04-24 | 沈阳新松机器人自动化股份有限公司 | Double-arm transferring manipulator |
-
2012
- 2012-11-08 CN CN201210445436.2A patent/CN103802090A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6199444B1 (en) * | 1998-07-29 | 2001-03-13 | Janome Sewing Machine Co., Ltd. | Robot having multi-joint arms movable in horizontal plane |
| JP2003019687A (en) * | 2001-07-03 | 2003-01-21 | Aitec:Kk | Driving device of robot hand |
| JP2007130733A (en) * | 2005-11-14 | 2007-05-31 | Hirata Corp | Double arm row type substrate conveying robot |
| CN101711429A (en) * | 2007-04-06 | 2010-05-19 | 布鲁克斯自动化公司 | Substrate transport apparatus with multiple independently movable articulated arms |
| CN101790441A (en) * | 2007-08-31 | 2010-07-28 | 日本电产三协株式会社 | Industrial robot |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| CN202895222U (en) * | 2012-11-08 | 2013-04-24 | 沈阳新松机器人自动化股份有限公司 | Double-arm transferring manipulator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440868A (en) * | 2014-12-05 | 2015-03-25 | 南京埃尔法电液技术有限公司 | Intermediate conveyance manipulator |
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN105479451B (en) * | 2015-12-29 | 2017-06-20 | 哈尔滨工业大学 | A kind of planar redundant robot |
| CN106926222A (en) * | 2017-04-28 | 2017-07-07 | 西安航空学院 | Apery dual-arm robot |
| CN109366509A (en) * | 2018-12-04 | 2019-02-22 | 北京勤牛创智科技有限公司 | A kind of heavy load manipulator and sorting system |
| CN111376232A (en) * | 2018-12-30 | 2020-07-07 | 沈阳自动化研究所(昆山)智能装备研究院 | Both arms transfer robot |
| CN111376232B (en) * | 2018-12-30 | 2023-09-29 | 昆山智能装备研究院 | Double-arm transfer robot |
| CN113414759A (en) * | 2021-07-02 | 2021-09-21 | 珠海格力电器股份有限公司 | Robot |
| CN114436175A (en) * | 2022-01-10 | 2022-05-06 | 中国船舶重工集团公司第七一六研究所 | Articulated automatic pallet fork for carrying articles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103802090A (en) | Dual-arm carrying manipulator | |
| CN204209684U (en) | The high speed SCARA robot that full fixed electrical machinery drives | |
| CN102452080A (en) | Robot arm component | |
| CN102431039B (en) | Mechanical arm | |
| CN202895222U (en) | Double-arm transferring manipulator | |
| CN204748649U (en) | Heavy two -way rotary joint combined mechanism | |
| CN202203345U (en) | Compound precision cycloid decelerator | |
| CN103433922B (en) | Three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism | |
| CN208629464U (en) | A kind of gear-rack drive formula catching robot | |
| CN206029924U (en) | Built -in controller's electronic clamping jaw | |
| CN110788848B (en) | Energy-saving type industrial robot with rear-mounted driving unit | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN105965499A (en) | Transmission gear of horizontal multi-joint robot wrist rotating shaft | |
| CN102853048B (en) | A kind of drive unit for chain joint assembly line | |
| CN104061292B (en) | A kind of new spatial Tooth Profile catenary system | |
| CN205394574U (en) | Novel chain transmission gear hand finger | |
| CN202726933U (en) | Wrist transmission structure of manipulator | |
| CN202334134U (en) | Double-turbine reducer motor | |
| CN103711844A (en) | Multi-planetary-gear-train transmission device | |
| CN203495972U (en) | Wrist body head transmission mechanism of manipulator | |
| CN204327873U (en) | Constant speed planetary gear train transmission case | |
| CN101592210B (en) | Method for constant power transmission | |
| CN202056248U (en) | Rigid transmission chain | |
| CN203939412U (en) | A kind of rapid door motor | |
| CN104071538A (en) | Carrier mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140521 |