CN105171775A - Calibration mechanism for mechanical arm - Google Patents

Calibration mechanism for mechanical arm Download PDF

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Publication number
CN105171775A
CN105171775A CN201510599154.1A CN201510599154A CN105171775A CN 105171775 A CN105171775 A CN 105171775A CN 201510599154 A CN201510599154 A CN 201510599154A CN 105171775 A CN105171775 A CN 105171775A
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CN
China
Prior art keywords
cantilever
wheel
docking
manipulator
driving
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CN201510599154.1A
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Chinese (zh)
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CN105171775B (en
Inventor
李学文
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东莞市三润田自动化设备有限公司
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Priority to CN201510599154.1A priority Critical patent/CN105171775B/en
Publication of CN105171775A publication Critical patent/CN105171775A/en
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Publication of CN105171775B publication Critical patent/CN105171775B/en

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Abstract

The invention discloses a calibration mechanism for a mechanical arm. The calibration mechanism is arranged between a cantilever and an arm body. The cantilever is provided with a longitudinal cavity longitudinally arranged along the cantilever. The calibration mechanism comprises a drive wheel, a driven wheel, a motor, a rotating mounting shaft, a driving belt and a butt joint expansion seat in butt joint with the longitudinal first end of the cantilever. The wheel diameter of the drive wheel is smaller than that of the driven wheel. The drive wheel is located in the longitudinal cavity in the longitudinal second end of the cantilever. The motor is arranged at the longitudinal second end of the cantilever and drives the drive wheel to rotate. The butt joint expansion seat is provided with a containing cavity communicated with the longitudinal cavity. The width size of the containing cavity is larger than that of the longitudinal cavity. The driven wheel is located in the containing cavity. The rotating mounting shaft is arranged in the driven wheel in a penetrating manner and assembled to the butt joint expansion seat. One end of the rotating mounting shaft extends out of the butt joint expansion seat. The driving belt is located in the longitudinal cavity and the containing cavity and wound around the drive wheel and the driven wheel. The arm is arranged on the rotating mounting shaft and extends out of the portion of the butt joint expansion seat, so that the arm is calibrated more stably, and precision is higher.

Description

The aligning gear of manipulator
Technical field
The present invention relates to manipulator field, particularly relate to a kind of correction steadily and the aligning gear of the high manipulator of precision.
Background technology
Along with the development of economy and the continuous progress of science and technology, development for enterprise provides strong economy and technology pillar, enterprise is impelled to stride forward towards intelligent and highly integrated etc. direction, and a kind of in the manipulator intelligentized product that to be exactly enterprise research and develop.
As everyone knows, in order to alleviate the burden of operating personnel, or alternative operating personnel carry out dangerous operation, all be unable to do without the application of manipulator.Gone the operation of alternative operating personnel by manipulator, thus reach the object improving effect or protection operating personnel, therefore make manipulator be applied widely in the occasion of automated production.
Wherein, for manipulator, because it has the function of multiaxial motion, therefore manipulator is with multiple drive unit, and means for correcting is exactly the one in drive unit.Wherein, pass through means for correcting, the cantilever of the arm energy relative mechanical hand in manipulator is corrected, the workpiece on workbench can be mated with the workpiece gripper device guaranteeing on arm, thus reach workpiece gripper device on arm can the object of pick-and-place workpiece better.But the Power Component in existing means for correcting exposes in surrounding environment, thus Power Component easily stain by around harmful substance, thus have influence on correction accuracy and the stationarity of arm.
Therefore, be badly in need of wanting a kind of and correct the steadily reliable and aligning gear of the manipulator that precision is high to overcome above-mentioned defect.
Summary of the invention
The object of the present invention is to provide and a kind ofly correct aligning gear that is steadily reliable and the manipulator that precision is high.
For realizing above-mentioned object, the invention provides a kind of aligning gear of manipulator, being located to correct this arm between the cantilever of manipulator and arm, described cantilever has the longitudinal chamber longitudinally arranged along this cantilever.Wherein, the aligning gear of manipulator of the present invention comprises driving wheel, driven pulley, motor, rotation installation shaft, driving-belt and seat is expanded in the docking of docking with the first end of described cantilever longitudinal direction.The wheel footpath of described driving wheel is less than the wheel footpath of described driven pulley, and described driving wheel is positioned at longitudinal chamber at the second end place of described cantilever longitudinal direction.The second end that described cantilever longitudinal direction is located at by described motor orders about described driving wheel and rotates, described docking is expanded seat and is offered the accommodating accommodating cavity of the described driven pulley of confession that is docked and connected with described longitudinal chamber, and the width dimensions of described accommodating cavity is greater than the width dimensions in described longitudinal chamber.Described driven pulley is positioned at described accommodating cavity, and described rotation installation shaft to be placed through in described driven pulley along the short transverse of described cantilever and to be assemblied in described docking and expands on seat, and one end of described rotation installation shaft is stretched out outside described docking expansion seat.Described driving-belt is positioned at described longitudinal chamber and accommodating cavity, and described driving-belt is set around on described driving wheel and driven pulley, and described arm is arranged on described rotation installation shaft and stretches out the position that seat is expanded in described docking.
Preferably, described docking is expanded seat and is comprised docking section and expansion department, described accommodating cavity is formed in described expansion department, and described longitudinal chamber is also run through described docking section and is communicated with described accommodating cavity, and described rotation installation shaft is assemblied in described expansion department and stretches out outside this expansion department.
Preferably, described docking section is rhs-structure or elliptical tube structure, the curved structure of described expansion department.
Preferably, described longitudinal chamber is run through described docking section and makes this docking section define a docking chamber, described docking section is also equipped with the first expansion tightening wheel and the second expansion tightening wheel that are positioned at described docking chamber, described first expansion tightening wheel and the second expansion tightening wheel along described cantilever longitudinally between described driving wheel and driven pulley, and described first expansion tightening wheel along the width of described cantilever compress described driving-belt one outside on, described second expansion tightening wheel compresses on outside corresponding another of described driving-belt along the width of described cantilever.
Preferably, described first expansion tightening wheel faces along the width of described cantilever and described second expansion tightening wheel.
Preferably, the spacing between described first expansion tightening wheel and described second expansion tightening wheel is less than or equal to the wheel footpath of described driving wheel.
Preferably, the plane crossing the axial line of described rotation installation shaft and the rotary centerline of described driving wheel is the first plane, and described first expansion tightening wheel and the second expansion tightening wheel are with described first plane layout symmetrically.
Preferably, described first expansion tightening wheel and the second expansion tightening wheel are partly overlapping layout with the projection of described driving wheel on the transverse plane perpendicular to described first plane respectively.
Preferably, a reductor is also provided with between described motor and described driving wheel, described reductor is arranged on the second end of described cantilever longitudinal direction, described motor is arranged on described reductor, and the output shaft of described motor is connected with the power shaft of described reductor, the output shaft of described reductor stretches in described host cavity, and described driving wheel is arranged on the output shaft of described reductor.
Preferably, described reductor is positioned at the top of described cantilever, and described motor is positioned at directly over described reductor.
Compared with prior art, because driving wheel and driving-belt are positioned at longitudinal chamber of cantilever, driven pulley is positioned at the accommodating cavity that seat is expanded in docking, therefore effectively prevent from the harmful substance in surrounding environment from their pollution is had influence on to motor being taken by driving wheel, driven pulley and transmission and correct the stationarity of arm and precision, the correction thus making arm is more steadily and precisely.Again because the wheel footpath of driven pulley is greater than the wheel footpath of driving wheel, the width dimensions of the accommodating cavity of docking expansion seat is greater than the width dimensions in longitudinal chamber, therefore make the size in longitudinal chamber of cantilever reach collecting driving wheel, and do not need the volume expanding cantilever for accommodating driven pulley, and the defect of weight and cost increase is caused because of the volume expanding cantilever, also have because cantilevered weights increases and cause rocking of cantilever, so, the aligning gear of manipulator of the present invention is expanded seat by the docking of docking with cantilever and namely can be avoided cantilever volume expansion, thus the defect of weight existing for cantilever volume expansion and cost increase is overcome, thus make the correction of the aligning gear of manipulator of the present invention more steadily and precision higher, be greater than the wheel footpath of driving wheel again in conjunction with the wheel footpath of driven pulley, effectively reduce the drive gap between driven pulley and driving wheel, further increasing the correction accuracy of the aligning gear of manipulator of the present invention.
Accompanying drawing explanation
Front view when Fig. 1 is the aligning gear of manipulator of the present invention, cantilever and arm three connect together.
Top view when Fig. 2 is the aligning gear of manipulator of the present invention, cantilever and arm three connect together
Fig. 3 is the aligning gear of manipulator of the present invention and arm perspective view when connecting together.
Fig. 4 is the perspective view that docking in the aligning gear of manipulator of the present invention expands when seat and arm connect together.
Fig. 5 is the internal structure schematic diagram of part A in Fig. 4.
Detailed description of the invention
In order to describe technology contents of the present invention, structural feature in detail, accompanying drawing is coordinated to be described further below in conjunction with embodiment.
Refer to Fig. 1, the aligning gear 100 of manipulator of the present invention is located between the cantilever 210 of manipulator and arm 220, for correcting arm 220.As shown in Figure 2, cantilever 210 has the longitudinal chamber 211 longitudinally arranged along this cantilever 210, is preferably, cantilever 210 is rectangular tube or elliptical tube, with at the bearing strength decline low weight increasing cantilever 210, also reduce the use of material, thus make the bearing capacity of cantilever 210 stronger.
As depicted in figs. 3 and 5, the aligning gear 100 of manipulator of the present invention comprises driving wheel 10, driven pulley 20, motor 30, rotates installation shaft 40, driving-belt 50 and the docking of docking with the first end of cantilever 210 longitudinal direction and expand seat 60.The wheel footpath of driving wheel 10 is less than the wheel footpath of driven pulley 20, to make the velocity of rotation of driven pulley 20 lower than the speed of driving wheel 10, is more conducive to the correction of arm 220, and driving wheel 10 is positioned at longitudinal chamber 211 at the second end place of cantilever 210 longitudinal direction; Particularly, as shown in Figure 2, in the present embodiment, the first end of cantilever 210 longitudinal direction is the right-hand member of cantilever 210, and the second end of cantilever 210 longitudinal direction is the left end of cantilever 210; Certainly, in other embodiments, the first end of cantilever 210 longitudinal direction is the left end of cantilever 210, and the second end of cantilever 210 longitudinal direction is the right-hand member of cantilever 210, therefore not as limit.
As shown in Figures 1 and 3, the second end that cantilever 210 longitudinal direction is located at by motor 30 orders about driving wheel 10 and rotates, particularly, for reducing the output speed of motor 30, and obtain larger moment of torsion for driving wheel 10, therefore between motor 30 and driving wheel 10, be also provided with a reductor 70, this reductor 70 is arranged on the second end of cantilever 210 longitudinal direction, motor 30 is arranged on reductor 70, and the output shaft of motor 30 is connected with the power shaft of reductor 70, the output shaft of reductor 70 stretches in host cavity 211, and driving wheel 10 is arranged on the output shaft of reductor 70; Be carried on cantilever 210 for making motor 30 and reductor 70, therefore reductor 70 is positioned at the top of cantilever 210, motor 30 is positioned at directly over reductor 70, the docking balanced better at the first end place of cantilever 210 is expanded seat 60 and the relation between the reductor 70 and motor 30 at the second end place of cantilever 210, thus is made the stability of equilibrium of cantilever 210 better.
As shown in Figure 5, docking is expanded seat 60 and is offered the accommodating cavity 61 accommodating for driven pulley 20 be docked and connected with longitudinal chamber 211, and the width dimensions of this accommodating cavity 61 is greater than the width dimensions in longitudinal chamber 211; As shown in Figure 1, so-called width dimensions refers to that short transverse refers to the above-below direction of cantilever 210 in Fig. 1 along the size that the fore-and-aft direction of cantilever 210 is arranged in Fig. 1.And driven pulley 20 is positioned at accommodating cavity 61.Rotate installation shaft 40 to be placed through in driven pulley 20 along the short transverse of cantilever 210 and to be assemblied in docking and expand on seat 60, and the one end of rotating installation shaft 40 is stretched out docking and expanded outside seat 60, the lower end of specifically rotating installation shaft 40 is stretched out docking and is expanded outside seat 60.Driving-belt 40 is positioned at longitudinal chamber 211 and accommodating cavity 61, and driving-belt 40 is set around on driving wheel 10 and driven pulley 20, make motor 30 drive driving wheel 10 to rotate by reductor 70, then drive driven pulley 20 to do synchronous rotation by the driving wheel 10 rotated by driving-belt 40.Arm 220 is arranged on rotation installation shaft 40 and stretches out the position that seat 60 is expanded in docking, therefore drives arm 220 to rotate by the driven pulley 20 rotated by rotation installation shaft 40 and realize the object of correction.Preferably, in the present embodiment, driving wheel 10 and driven pulley 20 are synchronous pulley, and driving-belt 40 is Timing Belt, improve transmission stability and transmission accuracy further, and motor 30 are chosen as servomotor.More specifically, as follows:
As shown in Figures 1 to 5, docking is expanded seat 60 and is comprised docking section 60a and expansion department 60b, accommodating cavity 61 is formed in expansion department 60b, longitudinal chamber 211 is also run through docking section 60a and is communicated with accommodating cavity 61, rotate installation shaft 40 be assemblied in expansion department 60b and stretch out outside this expansion department 60b, the object of such setting is: can reduce docking as best one can and expand the weight of seat 60 and the use amount of material under the demand meeting driven pulley 20 pairs of installing spaces, guarantee that cantilever 210 carries steady reliability further.Particularly, in the present embodiment, the lower end of rotating installation shaft 40 stretches out expansion department 60b, makes arm 220 be positioned at the below of docking expansion seat 60; Preferably, docking section 60a is rhs-structure or elliptical tube structure, and the curved structure of expansion department 60b, to make the size of the size of docking section 60a and cantilever 210 be consistent, go to by expansion department 60b the space expanding accommodating cavity 61.More specifically, longitudinal chamber 211 is run through docking section 60a and makes this docking section 60a define a docking chamber 62, docking section 60b is also equipped with the first expansion tightening wheel 63 and the second expansion tightening wheel 64 being positioned at docking chamber 62, first expansion tightening wheel 63 and the second expansion tightening wheel 64 along cantilever 210 longitudinally between driving wheel 10 and driven pulley 20, and the first expansion tightening wheel 63 along the width of cantilever 210 compress driving-belt 40 one outside on, second expansion tightening wheel 64 compresses on outside another of driving-belt 40 correspondence along the width of cantilever 210, to improve the tensioner effect of driving-belt 40; Be preferably, as shown in Figure 3, first expansion tightening wheel 63 be compress driving-belt 60 front outside, second expansion tightening wheel 64 is the trailing outside compressing driving-belt 40, thus make the first expansion tightening wheel 63 and the second expansion tightening wheel 64 compress in different direction driving-belt 40 two outside, effectively reduce the drive gap between driving wheel 10 and driven pulley 20, therefore make the transmission between driving wheel 10 with driven pulley 20 more synchronous, more steadily and more accurate.
As shown in Figure 4, the first expansion tightening wheel 63 faces along the width of cantilever 210 and the second expansion tightening wheel 64, promotes the tensioner effect of the first expansion tightening wheel 63 and the second expansion tightening wheel 64 pairs of driving-belts 40.Be preferably, as shown in Figure 3, crossing the plane of rotating the axial line 41 of installation shaft 40 and the rotary centerline 11 of driving wheel 10 is the first plane, first expansion tightening wheel 63 and the second expansion tightening wheel 64 are with the first plane layout symmetrically, guarantee that the tensioner degree suffered by driving-belt 40 both sides is consistent, to promote the tensioner effect of driving-belt 40 further.Preferentially, spacing between first expansion tightening wheel 63 and the second expansion tightening wheel 64 is less than or equal to the wheel footpath of driving wheel 10, or, first expansion tightening wheel 63 and the second expansion tightening wheel 64 are partly overlapping layout with the projection of driving wheel 10 on the transverse plane perpendicular to the first plane respectively, the object of design be like this size of docking section 60a is done the same with the size of cantilever 210.
Compared with prior art, because driving wheel 10 and driving-belt 50 are positioned at longitudinal chamber 211 of cantilever 210, driven pulley 20 is positioned at the accommodating cavity 61 that seat 60 is expanded in docking, therefore effectively prevent from the harmful substance in surrounding environment from their pollution is had influence on to motor 30 going to correct the stationarity of arm 220 and precision by driving wheel 10, driven pulley 20 and driving-belt 50, the correction thus making arm 220 is more steadily and precisely.Again because the wheel footpath of driven pulley 20 is greater than the wheel footpath of driving wheel 10, the width dimensions of the accommodating cavity 61 of docking expansion seat 60 is greater than the width dimensions in longitudinal chamber 211, therefore make the size in longitudinal chamber 211 of cantilever 210 reach collecting driving wheel 10, and do not need the volume expanding cantilever 210 for accommodating driven pulley 20, and the defect of weight and cost increase is caused because of the volume expanding cantilever 210, also have because cantilever 210 weight increases and cause rocking of cantilever 210, so, the aligning gear 100 of manipulator of the present invention is expanded seat 60 by the docking of docking with cantilever 210 and namely can be avoided cantilever 210 volume expansion, thus the defect of weight existing for cantilever 210 volume expansion and cost increase is overcome, thus make the correction of the aligning gear 100 of manipulator of the present invention more steadily and precision higher, be greater than the wheel footpath of driving wheel 10 again in conjunction with the wheel footpath of driven pulley 20, effectively reduce the drive gap between driven pulley 20 and driving wheel 10, further increasing the correction accuracy of the aligning gear 100 of manipulator of the present invention.
Above disclosedly be only preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.

Claims (10)

1. the aligning gear of a manipulator, be located between the cantilever of manipulator and arm to correct this arm, described cantilever has the longitudinal chamber longitudinally arranged along this cantilever, it is characterized in that, the aligning gear of described manipulator comprises driving wheel, driven pulley, motor, rotate installation shaft, seat is expanded in driving-belt and the docking of docking with the first end of described cantilever longitudinal direction, the wheel footpath of described driving wheel is less than the wheel footpath of described driven pulley, and described driving wheel is positioned at longitudinal chamber at the second end place of described cantilever longitudinal direction, the second end that described cantilever longitudinal direction is located at by described motor orders about described driving wheel and rotates, described docking is expanded seat and is offered the accommodating accommodating cavity of the described driven pulley of confession that is docked and connected with described longitudinal chamber, the width dimensions of described accommodating cavity is greater than the width dimensions in described longitudinal chamber, described driven pulley is positioned at described accommodating cavity, described rotation installation shaft to be placed through in described driven pulley along the short transverse of described cantilever and to be assemblied in described docking to be expanded on seat, and one end of described rotation installation shaft is stretched out outside described docking expansion seat, described driving-belt is positioned at described longitudinal chamber and accommodating cavity, and described driving-belt is set around on described driving wheel and driven pulley, described arm is arranged on described rotation installation shaft and stretches out the position that seat is expanded in described docking.
2. the aligning gear of manipulator as claimed in claim 1, it is characterized in that, described docking is expanded seat and is comprised docking section and expansion department, described accommodating cavity is formed in described expansion department, described longitudinal chamber is also run through described docking section and is communicated with described accommodating cavity, and described rotation installation shaft is assemblied in described expansion department and stretches out outside this expansion department.
3. the aligning gear of manipulator as claimed in claim 2, it is characterized in that, described docking section is rhs-structure or elliptical tube structure, the curved structure of described expansion department.
4. the aligning gear of manipulator as claimed in claim 2, it is characterized in that, described longitudinal chamber is run through described docking section and makes this docking section define a docking chamber, described docking section is also equipped with the first expansion tightening wheel and the second expansion tightening wheel that are positioned at described docking chamber, described first expansion tightening wheel and the second expansion tightening wheel along described cantilever longitudinally between described driving wheel and driven pulley, and described first expansion tightening wheel along the width of described cantilever compress described driving-belt one outside on, described second expansion tightening wheel compresses on outside corresponding another of described driving-belt along the width of described cantilever.
5. the aligning gear of manipulator as claimed in claim 4, is characterized in that, described first expansion tightening wheel faces along the width of described cantilever and described second expansion tightening wheel.
6. the aligning gear of manipulator as claimed in claim 5, it is characterized in that, the spacing between described first expansion tightening wheel and described second expansion tightening wheel is less than or equal to the wheel footpath of described driving wheel.
7. the aligning gear of manipulator as claimed in claim 4, it is characterized in that, the plane crossing the axial line of described rotation installation shaft and the rotary centerline of described driving wheel is the first plane, and described first expansion tightening wheel and the second expansion tightening wheel are with described first plane layout symmetrically.
8. the aligning gear of manipulator as claimed in claim 7, is characterized in that, described first expansion tightening wheel and the second expansion tightening wheel are partly overlapping layout with the projection of described driving wheel on the transverse plane perpendicular to described first plane respectively.
9. the aligning gear of manipulator as claimed in claim 1, it is characterized in that, a reductor is also provided with between described motor and described driving wheel, described reductor is arranged on the second end of described cantilever longitudinal direction, described motor is arranged on described reductor, and the output shaft of described motor is connected with the power shaft of described reductor, the output shaft of described reductor stretches in described host cavity, and described driving wheel is arranged on the output shaft of described reductor.
10. the aligning gear of manipulator as claimed in claim 9, it is characterized in that, described reductor is positioned at the top of described cantilever, and described motor is positioned at directly over described reductor.
CN201510599154.1A 2015-09-18 2015-09-18 The aligning gear of manipulator CN105171775B (en)

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CN105171775B CN105171775B (en) 2019-01-25

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2644434Y (en) * 2003-08-12 2004-09-29 北京七星华创电子股份有限公司 Automatic piece sending mechanism of etching machine
CN201068973Y (en) * 2007-06-14 2008-06-04 梅小景 Split type belt cover
WO2010030463A1 (en) * 2008-09-12 2010-03-18 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
CN201991639U (en) * 2011-02-28 2011-09-28 广州汽车集团股份有限公司 Timing belt cover of automobile engine
CN202823580U (en) * 2012-09-28 2013-03-27 三一重型装备有限公司 Transmission body protection cover and crusher
CN203955950U (en) * 2014-06-25 2014-11-26 东莞市信腾机器人科技有限公司 The four axle stamping machine manipulators that arm load capacity is strong
CN204278021U (en) * 2014-10-27 2015-04-22 东莞市三润田自动化设备有限公司 For the aligning gear of five axis robot
CN104785661A (en) * 2015-04-28 2015-07-22 苏州通锦精密工业有限公司 Feeding and discharging device special for stamping industry
CN205166960U (en) * 2015-09-18 2016-04-20 东莞市三润田自动化设备有限公司 Aligning gear of manipulator

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2644434Y (en) * 2003-08-12 2004-09-29 北京七星华创电子股份有限公司 Automatic piece sending mechanism of etching machine
CN201068973Y (en) * 2007-06-14 2008-06-04 梅小景 Split type belt cover
WO2010030463A1 (en) * 2008-09-12 2010-03-18 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
CN201991639U (en) * 2011-02-28 2011-09-28 广州汽车集团股份有限公司 Timing belt cover of automobile engine
CN202823580U (en) * 2012-09-28 2013-03-27 三一重型装备有限公司 Transmission body protection cover and crusher
CN203955950U (en) * 2014-06-25 2014-11-26 东莞市信腾机器人科技有限公司 The four axle stamping machine manipulators that arm load capacity is strong
CN204278021U (en) * 2014-10-27 2015-04-22 东莞市三润田自动化设备有限公司 For the aligning gear of five axis robot
CN104785661A (en) * 2015-04-28 2015-07-22 苏州通锦精密工业有限公司 Feeding and discharging device special for stamping industry
CN205166960U (en) * 2015-09-18 2016-04-20 东莞市三润田自动化设备有限公司 Aligning gear of manipulator

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