CN104723323A - Laterally-hung type three-axis servo manipulator - Google Patents
Laterally-hung type three-axis servo manipulator Download PDFInfo
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- CN104723323A CN104723323A CN201510144907.XA CN201510144907A CN104723323A CN 104723323 A CN104723323 A CN 104723323A CN 201510144907 A CN201510144907 A CN 201510144907A CN 104723323 A CN104723323 A CN 104723323A
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Abstract
The invention discloses a laterally-hung type three-axis servo manipulator. A Y-axis belt is arranged parallel to a sliding rail and fixed to a base through a belt fixing seat, a guiding and stirring fixing plate is arranged perpendicular to an axis sliding plate, an air valve box, the axis sliding plate and the guiding and stirring fixing plate move in the Y-axis direction, an X-axis sliding rail is connected with a guiding and stirring arm in parallel, and a positive arm motor acts to drive a positive arm to move in the Z-axis direction through a positive arm belt wheel. An auxiliary arm motor acts to drive an auxiliary arm to move in the Z-axis direction through an auxiliary arm belt wheel, and the Z-axis direction is the plane direction of the auxiliary arm. According to the laterally-hung type three-axis servo manipulator, the X axis adopts gear transmission, the others adopt belt transmission, the problems that noise, cost and the occupied space are large are effectively solved, production cost is effectively reduced, equipment is lighter, and assembling and operating staff can more conveniently and quickly operate the equipment. For users, the limitation to space is avoided.
Description
Technical field
The present invention relates to technical field of automation equipment, specifically, particularly a kind of side hanging three axle watches manipulator.
Background technology
Manipulator is used in various industrial production line, and for moving to another position by the object on production line from a position, the displacement of mechanical arm is controlled by transmission mechanism by servo motor.Existing transmission mechanism all adopts gear to coordinate rack-driving, and rack pinion needs gear and tooth bar to be positioned on tower structure just can complete, therefore, adopt the manipulator cost of this transmission mechanism high, volume is large, and noise is large, overall heavy, the production cycle is long.
Summary of the invention
The present invention is intended to solve one of above-mentioned technical problem of the prior art at least to a certain extent.In view of this, the present invention needs to provide a kind of low noise, low cost, light side hanging three axle servo manipulator.
According to the side hanging three axle servo manipulator of the embodiment of the present invention, comprise pedestal and be arranged on the slide rail above described pedestal, Y-axis belt and described slide rail be arranged in parallel and are fixed on described pedestal by belt holder, Y-axis slide plate is arranged on described pedestal by described slide rail, described Y-axis slide plate is provided with to draw dials fixed head and air valve case, described drawing dials that fixed head is vertical with described axle slide plate arranges, described air valve case is built-in with magnetic valve, the motor action of described magnetic valve is by air valve case described in described slide rail and described Y-axis belt drive, described axle slide plate and the described group fixed head that draws move in Y direction, wherein said Y direction is the in-plane at described Y-axis slide plate place, described Y-axis slide plate is also fixed with an X-axis slide rail, described drawing dials fixed head and is provided with and draws wiper arm, draw described in tooth bar is fixed in wiper arm, described X-axis slide rail and the parallel connection of described pulling arm, described X-axis slide rail is connected with positive arm is vertical with auxiliary, described positive arm and described auxiliary be arranged in parallel and perpendicular to the plane at described Y-axis slide plate and described X-axis slide rail place, described positive arm and described auxiliary are positioned at the same side of described pulling arm, described wiper arm of drawing is provided with without brake motor, describedly described positive arm and described auxiliary is driven to do back and forth movement in X-direction without brake motor action respectively by described tooth bar and described X-axis slide rail, wherein said X-direction is the in-plane at described X-axis slide rail place, described positive arm comprises positive arm configuration first segment and positive arm configuration second section, positive arm chain is arranged in described positive arm, described positive arm chain mounting bracket is fixed on positive arm chain upper end, described auxiliary comprises auxiliary structure first segment and auxiliary structure second section, auxiliary chain is arranged on described auxiliary, described auxiliary chain mounting bracket is fixed on auxiliary chain upper end, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate of auxiliary upper and lower air cylinders simultaneously, described positive arm comprises the positive arm belt pulley that a positive arm sealing cover and being built-in with positive arm motor has transfer function, the action of described positive arm motor drives described positive arm to move in Z-direction by described positive arm belt pulley, described auxiliary comprises the auxiliary belt pulley that an auxiliary motor cover and being built-in with auxiliary motor has transfer function, the action of described auxiliary motor drives described auxiliary to move in Z-direction by described auxiliary belt pulley, and wherein said Z-direction is the in-plane at described auxiliary place.
Side hanging three axle servo manipulator according to an embodiment of the invention, except X-axis uses gear drive, other all adopts belt transmission, effectively solve noise large, cost is high, take up room large problem, effectively reduce production cost, equipment is lighting more, for assembling and operating personnel more convenient; For the user, not by the restriction in space.
In addition, side hanging three axle servo manipulator according to the above embodiment of the present invention can also have following additional technical characteristic:
According to one embodiment of present invention, described positive arm comprises positive arm configuration first segment, positive arm configuration second section and the side appearance group for gripping product, positive arm chain is arranged in described positive arm, described positive arm chain mounting bracket is fixed on positive arm chain upper end, positive arm structural beams second section is connected by positive arm belt pulley, and be connected with described side appearance group, the action of described positive arm motor drives described positive arm second section and described side appearance group to move in Z-direction by described positive arm belt pulley.
According to one embodiment of present invention, described auxiliary comprises auxiliary structure first segment and auxiliary structure second section and the fixture for product clamping, auxiliary chain is arranged on described auxiliary, described auxiliary chain mounting bracket is fixed on auxiliary chain upper end, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate of auxiliary upper and lower air cylinders simultaneously, wherein said auxiliary structure second section is fixed on upper bottom plate by described slide rail, described upper bottom plate is fixed on auxiliary pulling slide plate, described auxiliary pulling slide plate is fixed on described pulling arm, the action of described auxiliary motor drives described auxiliary structure second section and described fixture to move in Z-direction by described auxiliary belt pulley.
According to one embodiment of present invention, described positive arm also comprises strap brake motor, and the action of described strap brake motor drives described positive arm to move.
According to one embodiment of present invention, described auxiliary is provided with auxiliary upper mounted plate and upper bottom plate, on described auxiliary upper mounted plate, bottom plate is fixed on described auxiliary lower end and is fixed in the auxiliary upper and lower air cylinders above described upper bottom plate simultaneously, and described auxiliary upper and lower air cylinders drives described upper bottom plate motion.
Side hanging three axle servo manipulator according to an embodiment of the invention; also comprise be fixed on described pedestal for the shock belt pressing plate that prevents described Y-axis slide plate from dropping and Y-axis sheath plate; wherein said Y-axis sheath plate is fixed with a Y-axis protection chain, described Y-axis protection chain is connected with described air valve case.
Side hanging three axle servo manipulator according to an embodiment of the invention, comprise further drawing and dial outer cover, described pulling end shield is fixed on described Y-axis slide plate.
According to one embodiment of present invention, described positive arm chain is fixed on described positive arm configuration second section, and described auxiliary chain one end is fixed on described auxiliary upper mounted plate, and one end is fixed on described without in brake motor cover.
Side hanging three axle servo manipulator according to an embodiment of the invention, also comprise the outer safe inductive iron plate of the mould be fixed on described pedestal, the outer safe inductive iron plate of described mould is positioned in the middle of described slide rail and described belt.
Side hanging three axle servo manipulator according to an embodiment of the invention, also comprises the air accumulator be fixed on described pedestal.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Fig. 1 is that side hanging three axle according to an embodiment of the invention watches manipulator perspective view.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the front view of Fig. 1.
Fig. 4 is the top view of Fig. 1.
Reference numeral:
1. pedestal, 2. slide rail, 3.Y axle belt, 4. the outer safe inductive iron plate of mould, 5. belt pressing plate, 6. belt holder, 7.Y sheath shaft plate, 8.Y axle protection chain, 9. electric cabinet, 10. air valve case, 11. draw group fixed head, 12 tooth bars, 13. positive arm chain mounting brackets, 14. positive arm chains, 15. positive arm structural beams second sections, 16. auxiliary structural beams second sections, 17. auxiliary chain mounting brackets, 18. auxiliary chains, 19. auxiliary upper mounted plates, 20. auxiliary epithelium band pressing plates, 21. auxiliary structural beams first segments, 22. without brake motor, 23. strap brake motors, 24. draw wiper arm, 25. draw wiper arm outer cover, 26. draw dial, 27. positive arm sealing covers, 28. side appearance groups, bottom plate on 29., 30. fixtures, 31. positive arm structural beams first segments, 32. auxiliary sealing covers, 33.Y axle slide plate, 34. slide blocks, 35.X axle slide rail, 36 induction iron plates, 37. air accumulators.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
As shown in Figures 1 to 4, side hanging three axle servo manipulator according to an embodiment of the invention, the slide rail 2 comprising pedestal 1 and be arranged on above pedestal 1, Y-axis belt 3 and slide rail 2 be arranged in parallel and are fixed on pedestal 1 by belt holder 6, Y-axis slide plate 33 is arranged on pedestal 1 by slide rail 2, Y-axis slide plate is provided with to draw dials fixed head 11 and air valve case 10, draw and dial that fixed head 11 is vertical with Y-axis slide plate 33 arranges, air valve case 10 is built-in with magnetic valve, the motor action of magnetic valve drives air valve case 10 by slide rail 2 and described Y-axis belt 3, Y-axis slide plate 33 and draw and dial fixed head and move in Y direction, wherein Y direction is the in-plane at Y-axis slide plate 33 place.
Y-axis slide plate 33 is also fixed with an X-axis slide rail 35, draw and dial fixed head 11 and be provided with and draw wiper arm 24, tooth bar 12 is fixed on and draws in wiper arm 24, X-axis slide rail 35 connection parallel with pulling arm 24, X-axis slide rail 35 is connected with positive arm is vertical with auxiliary, positive arm and auxiliary be arranged in parallel and perpendicular to Y-axis slide plate 33 plane with X-axis slide rail 35 place, positive arm and auxiliary are positioned at the same side of pulling arm 24, drawing wiper arm is provided with without brake motor 22, positive arm and auxiliary is driven to do back and forth movement in X-direction without brake motor 22 action respectively by tooth bar 12 and X-axis slide rail 35, wherein X-direction is the in-plane at X-axis slide rail 35 place.
Positive arm comprises positive arm configuration first segment 31 and positive arm configuration second section 15, positive arm chain 14 is arranged in positive arm, positive arm chain 14 fixed mount 13 is fixed on positive arm chain 14 upper end, positive arm chain 14 is for the protection of through all tracheae/electric wire of positive arm, positive arm structural beams second section 15 is connected by positive arm belt pulley, connect up and down, auxiliary comprises auxiliary structure first segment 21 and auxiliary structure second section 15, auxiliary chain 18 is arranged on auxiliary, auxiliary chain mounting bracket 17 is fixed on auxiliary chain 18 upper end, auxiliary chain 18 is for the protection of through all tracheae/electric wire of auxiliary, auxiliary structural beams second section 16 is connected by auxiliary belt pulley, connect up and down, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate 19 of auxiliary upper and lower air cylinders simultaneously, positive arm comprises the positive arm belt pulley that a positive arm sealing cover 27 and being built-in with positive arm motor has transfer function, the action of positive arm motor drives positive arm to move in Z-direction by positive arm belt pulley, auxiliary comprises the auxiliary belt pulley that an auxiliary motor cover 32 and being built-in with auxiliary motor has transfer function, and the action of auxiliary motor drives auxiliary to move in Z-direction by auxiliary belt pulley, and wherein Z-direction is the in-plane at auxiliary place.
Side hanging three axle servo manipulator according to an embodiment of the invention, except X-axis uses gear drive, other all adopts belt transmission, effectively solve noise large, cost is high, take up room large problem, effectively reduce production cost, equipment is lighting more, for assembling and operating personnel more convenient; For the user, not by the restriction in space.
According to one embodiment of present invention, positive arm comprises positive arm configuration first segment 31, positive arm configuration second section 15 and the side appearance group 28 for gripping product, positive arm chain 14 is arranged in described positive arm, positive arm chain 14 fixed mount 13 is fixed on positive arm chain 14 upper end, positive arm structural beams second section 15 is connected by positive arm belt pulley, and be connected with side appearance group 28, the action of positive arm motor drives positive arm second section 15 and side appearance group 28 to move in Z-direction by described positive arm belt pulley.
According to one embodiment of present invention, auxiliary comprises auxiliary structure first segment 21 and auxiliary structure second section 15 and the fixture for product clamping, auxiliary chain 18 is arranged on described auxiliary, auxiliary chain mounting bracket 17 is fixed on auxiliary chain 18 upper end, auxiliary chain 18 is for the protection of through all tracheae/electric wire of auxiliary, auxiliary structural beams second section 16 is connected by auxiliary belt pulley, connect up and down, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate 19 of auxiliary upper and lower air cylinders simultaneously, wherein auxiliary structure second section 15 is fixed on upper bottom plate 29 by slide rail 3, upper bottom plate 29 is fixed on auxiliary pulling slide plate, auxiliary pulling slide plate is fixed on pulling arm 24, the action of auxiliary motor drives auxiliary structure second section 15 and fixture 30 to move in Z-direction by auxiliary belt pulley.
According to one embodiment of present invention, positive arm also comprises strap brake motor 23, and the action of strap brake motor 23 drives positive arm motion.Further, auxiliary is provided with auxiliary upper mounted plate 19 and upper bottom plate 29, on auxiliary upper mounted plate 19, bottom plate 29 is fixed on auxiliary lower end and is fixed in the auxiliary upper and lower air cylinders above bottom plate 29 simultaneously, and auxiliary upper and lower air cylinders drives upper bottom plate 29 to move.
According to one embodiment of present invention; also comprise be fixed on described pedestal 1 for the shock belt pressing plate 5 that prevents Y-axis slide plate 33 from dropping and Y-axis sheath plate 7; wherein Y-axis sheath plate 7 is fixed with a Y-axis protection chain 8, Y-axis protection chain 8 is connected with air valve case 10.
According to one embodiment of present invention, side hanging three axle servo manipulator comprises drawing further dials outer cover 25, and pulling end shield is fixed on described Y-axis slide plate 33.Further, positive arm chain 14 is fixed on positive arm configuration second section 15, and auxiliary chain 18 one end is fixed on auxiliary upper mounted plate 19, and one end is fixed on without in brake motor cover 22.
Side hanging three axle servo manipulator according to an embodiment of the invention, also comprise the outer safe inductive iron plate 36 of the mould be fixed on pedestal 1, the outer safe inductive iron plate 36 of mould is positioned in the middle of slide rail 2 and described belt.Also comprise the air accumulator 37 be fixed on pedestal 1.Preferably, the present embodiment also comprises one and is fixed on electric cabinet 9 on pedestal 1, and electric cabinet 9 is built-in with the controller of equipment.
The operation principle of the present embodiment is: the motor action in air valve case 10, air valve case 10, Y-axis slide plate 33, pulling arm 24 is driven to make back and forth movement in Y-axis by slide rail 2 and Y-axis belt 3, (pulling arm 24 is screwed on Y-axis slide plate 24), this is the action of Y direction; Tooth bar 12, X-axis slide rail 35 drive auxiliary to make back and forth movement in X-axis, and also drive positive arm to make back and forth movement in X-axis, this is the action of X-direction simultaneously; Fixture 30 makes back and forth movement in Z-direction, and positive arm and side appearance group 28 come and go action as Z-direction, and this is the action of Z-direction, and this three axle can free action, not by the constraint of other diaxons, also can coordinate to combine to do sequence, according to actual conditions.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.In addition, the different embodiment described in this description or example can carry out engaging and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (10)
1. a side hanging three axle servo manipulator, it is characterized in that, comprise pedestal and be arranged on the slide rail above described pedestal, Y-axis belt and described slide rail be arranged in parallel and are fixed on described pedestal by belt holder, Y-axis slide plate is arranged on described pedestal by described slide rail, described Y-axis slide plate is provided with to draw dials fixed head and air valve case, described drawing dials that fixed head is vertical with described axle slide plate arranges, described air valve case is built-in with magnetic valve, the motor action of described magnetic valve is by air valve case described in described slide rail and described Y-axis belt drive, described axle slide plate and the described group fixed head that draws move in Y direction, wherein said Y direction is the in-plane at described Y-axis slide plate place,
Described Y-axis slide plate is also fixed with an X-axis slide rail, described drawing dials fixed head and is provided with and draws wiper arm, draw described in tooth bar is fixed in wiper arm, described X-axis slide rail and the parallel connection of described pulling arm, described X-axis slide rail is connected with positive arm is vertical with auxiliary, described positive arm and described auxiliary be arranged in parallel and perpendicular to the plane at described Y-axis slide plate and described X-axis slide rail place, described positive arm and described auxiliary are positioned at the same side of described pulling arm, described wiper arm of drawing is provided with without brake motor, describedly described positive arm and described auxiliary is driven to do back and forth movement in X-direction without brake motor action respectively by described tooth bar and described X-axis slide rail, wherein said X-direction is the in-plane at described X-axis slide rail place,
Described positive arm comprises positive arm configuration first segment and positive arm configuration second section, positive arm chain is arranged in described positive arm, described positive arm chain mounting bracket is fixed on positive arm chain upper end, described auxiliary comprises auxiliary structure first segment and auxiliary structure second section, auxiliary chain is arranged on described auxiliary, described auxiliary chain mounting bracket is fixed on auxiliary chain upper end, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate of auxiliary upper and lower air cylinders simultaneously, described positive arm comprises the positive arm belt pulley that a positive arm sealing cover and being built-in with positive arm motor has transfer function, the action of described positive arm motor drives described positive arm to move in Z-direction by described positive arm belt pulley, described auxiliary comprises the auxiliary belt pulley that an auxiliary motor cover and being built-in with auxiliary motor has transfer function, the action of described auxiliary motor drives described auxiliary to move in Z-direction by described auxiliary belt pulley, and wherein said Z-direction is the in-plane at described auxiliary place.
2. require the side hanging three axle servo manipulator described in 1 according to profit, it is characterized in that: described positive arm comprises positive arm configuration first segment, positive arm configuration second section and the side appearance group for gripping product, positive arm chain is arranged in described positive arm, described positive arm chain mounting bracket is fixed on positive arm chain upper end, positive arm structural beams second section is connected by positive arm belt pulley, and be connected with described side appearance group, the action of described positive arm motor drives described positive arm second section and described side appearance group to move in Z-direction by described positive arm belt pulley.
3. side hanging three axle servo manipulator according to claim 2, it is characterized in that: described auxiliary comprises auxiliary structure first segment and auxiliary structure second section and the fixture for product clamping, auxiliary chain is arranged on described auxiliary, described auxiliary chain mounting bracket is fixed on auxiliary chain upper end, also comprise for being fixed on the upper and lower seat of auxiliary, also fix the auxiliary upper mounted plate of auxiliary upper and lower air cylinders simultaneously, wherein said auxiliary structure second section is fixed on upper bottom plate by described slide rail, described upper bottom plate is fixed on auxiliary pulling slide plate, described auxiliary pulling slide plate is fixed on described pulling arm, the action of described auxiliary motor drives described auxiliary structure second section and described fixture to move in Z-direction by described auxiliary belt pulley.
4. side hanging three axle servo manipulator according to claim 3, is characterized in that: described positive arm also comprises strap brake motor, and the action of described strap brake motor drives described positive arm to move.
5. side hanging three axle servo manipulator according to claim 4, it is characterized in that: described auxiliary is provided with auxiliary upper mounted plate and upper bottom plate, on described auxiliary upper mounted plate, bottom plate is fixed on described auxiliary lower end and is fixed in the auxiliary upper and lower air cylinders above described upper bottom plate simultaneously, and described auxiliary upper and lower air cylinders drives described upper bottom plate motion.
6. side hanging three axle servo manipulator according to claim 5; it is characterized in that: also comprise be fixed on described pedestal for the shock belt pressing plate that prevents described Y-axis slide plate from dropping and Y-axis sheath plate; wherein said Y-axis sheath plate is fixed with a Y-axis protection chain, described Y-axis protection chain is connected with described air valve case.
7. side hanging three axle servo manipulator according to claim 6, is characterized in that: comprise further drawing and dial outer cover, described pulling end shield is fixed on described Y-axis slide plate.
8. side hanging three axle servo manipulator according to claim 7, it is characterized in that: described positive arm chain is fixed on described positive arm configuration second section, described auxiliary chain one end is fixed on described auxiliary upper mounted plate, and one end is fixed on described without in brake motor cover.
9. according to the arbitrary described side hanging three axle servo manipulator of claim 1-8, it is characterized in that: also comprise the outer safe inductive iron plate of the mould be fixed on described pedestal, the outer safe inductive iron plate of described mould is positioned in the middle of described slide rail and described belt.
10., according to the arbitrary described side hanging three axle servo manipulator of claim 1-9, it is characterized in that: also comprise the air accumulator be fixed on described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510144907.XA CN104723323A (en) | 2015-03-30 | 2015-03-30 | Laterally-hung type three-axis servo manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510144907.XA CN104723323A (en) | 2015-03-30 | 2015-03-30 | Laterally-hung type three-axis servo manipulator |
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| CN104723323A true CN104723323A (en) | 2015-06-24 |
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| CN201510144907.XA Pending CN104723323A (en) | 2015-03-30 | 2015-03-30 | Laterally-hung type three-axis servo manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104985595A (en) * | 2015-07-29 | 2015-10-21 | 浙江治丞智能机械科技有限公司 | A three-axis truss type robot |
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
| CN108621136A (en) * | 2018-06-12 | 2018-10-09 | 艾尔发智能科技股份有限公司 | A kind of double pulling multifunctional application robots of multiaxis |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
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| CN301329459S (en) * | 2009-09-23 | 2010-08-25 | 施太郎 | Horizontal walking manipulator (b) |
| CN201769345U (en) * | 2010-09-14 | 2011-03-23 | 中山市钜通机电技术有限公司 | Tri-axis servo manipulator |
| CN102756370A (en) * | 2011-04-28 | 2012-10-31 | 扬州迈极自动化设备有限公司 | Manipulator for horizontally moving and picking and placing work-piece by double arms |
| CN104260087A (en) * | 2014-09-02 | 2015-01-07 | 艾尔发（苏州）自动化科技有限公司 | All pneumatic side taking machine |
| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
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| EP0122146A1 (en) * | 1983-04-14 | 1984-10-17 | Westinghouse Electric Corporation | General purpose orthogonal axes manipulator system |
| CN301329459S (en) * | 2009-09-23 | 2010-08-25 | 施太郎 | Horizontal walking manipulator (b) |
| CN201769345U (en) * | 2010-09-14 | 2011-03-23 | 中山市钜通机电技术有限公司 | Tri-axis servo manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104985595A (en) * | 2015-07-29 | 2015-10-21 | 浙江治丞智能机械科技有限公司 | A three-axis truss type robot |
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
| CN108621136A (en) * | 2018-06-12 | 2018-10-09 | 艾尔发智能科技股份有限公司 | A kind of double pulling multifunctional application robots of multiaxis |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110103206B (en) * | 2019-06-11 | 2024-05-17 | 湖北火爆机器人科技有限公司 | Six-axis truss robot |
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Address after: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Applicant after: Alfa intelligent Polytron Technologies Inc Address before: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Applicant before: Alfa (Suzhou) Automation Technology Limited |
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