CN105583827A - Conical robot - Google Patents

Conical robot Download PDF

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Publication number
CN105583827A
CN105583827A CN201510593162.5A CN201510593162A CN105583827A CN 105583827 A CN105583827 A CN 105583827A CN 201510593162 A CN201510593162 A CN 201510593162A CN 105583827 A CN105583827 A CN 105583827A
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CN
China
Prior art keywords
telescopic arm
robot
scissor
hinged
taper
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Pending
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CN201510593162.5A
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Chinese (zh)
Inventor
唐建柳
唐易平
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唐易平
唐建柳
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Priority to CN201510593162.5A priority Critical patent/CN105583827A/en
Publication of CN105583827A publication Critical patent/CN105583827A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a conical robot which comprises a telescopic boom and a terminal work mechanism. The telescopic boom is formed by sequentially hinging a plurality of shear fork type units and a half shear fork type unit. Each shear fork type unit is composed of two hinge arms, wherein the middle portions of the two hinge arms are hinged through a rotating shaft. The hinge ends of the hinge arms of every two adjacent shear fork type units are correspondingly hinged together. The half shear fork type unit is composed of two half hinge arms hinged at one end. The other ends of the two half hinge arms are hinged to the hinge ends of the two hinge arms of the shear fork type unit at the outmost end. At least one of the two ends of the bottom of the telescopic boom is provided with a movable end of a telescopic driving part used for driving the telescopic boom to stretch and retract. The lengths of all the hinge arms forming the shear fork type units and the half hinge arms forming the half shear fork type unit are gradually reduced in a gradient manner from bottom to top to form a conical telescopic boom. The conical robot is more reasonable in structure, convenient to install and maintain, wider in application range, lower in production cost, more stable in telescopic movement and higher in loading capability.

Description

Taper robot
[technical field]
The present invention relates to a kind of industrial robot.
[background technology]
Along with present industrial expansion, the use of manipulator is more and more, but existing manipulator is mainly to adopt bionics techniques, and it arranges multiple flexible joints, and inside, each joint arranges motor and drives; Or, adopt stretching structure, as cylinder, electric cylinder and hydraulic cylinder etc. are realized stretching motion.
But, because motor and telescoping cylinder self have weight, and larger motor or the telescoping cylinder of driving force, its quality is larger, and volume is also larger, and these drives structure or telescoping mechanism are applied in mechanical arm and can greatly increase its weight, cause whole comparison in equipment Yong Zhong, take larger space, and during the installation of this manipulator and maintenance difficulty increase, production cost is also high.
And some adopt the robot of articulated type arm, as the structure of human arm, this structure need to adopt the decelerator of big retarding ratio, and the production of the decelerator of big retarding ratio, processing technology complexity, expensive, be the bottleneck of the Application and Development of medium-sized and small enterprises always.
[summary of the invention]
The object of the invention is to be to overcome the deficiencies in the prior art, provide that a kind of more reasonable structure, installation and maintenance are convenient, application more extensively, taper robot that production cost is lower, its stretching motion is more stable and load-carrying ability is larger.
In order to solve the technical problem of above-mentioned existence, the present invention adopts following technical proposals:
One taper robot, the terminal works mechanism that it comprises telescopic arm and is installed on described telescopic arm one end;
Described telescopic arm is top in that one end being connected with terminal works mechanism, and its bottom is drive end; Described telescopic arm is by multiple scissor-types unit and one and half scissor-type unit hinged composition successively; Described scissor-type unit is made up of two articulated jibs, and these two articulated jib middle parts are hinged by turning cylinder; The hinged end correspondence of the articulated jib of two adjacent described scissor-type unit is hinged; Described half scissor-type unit by two at one end hinged half articulated jib form, the other end of this two and half hinges pivoted arm is hinged with the hinged end of two articulated jibs of that scissor-type unit of outermost end respectively; The two ends of described telescopic arm bottom, wherein having one end at least is that the movable end that is used for driving the flexible telescopic drive part of telescopic arm has been installed;
The length that forms all scissor-types unit of described telescopic arm and the articulated jib of half scissors unit and half articulated jib is successively decreased and is formed tapering telescopic arm from bottom toward top-direction gradient.
In to the improvement project of above-mentioned taper robot, two articulated jibs of described scissor-type unit are in the turning cylinder place bending at their middle parts, and its wrap direction is toward taper direction bending.
In to the improvement project of above-mentioned taper robot, the range of taper of described telescopic arm is 0-80 degree; The bending angle scope of described articulated jib is 0-80 degree.
In to the improvement project of above-mentioned taper robot, the tapering of described telescopic arm is made up of the scissor-type unit of two kinds or above different bending angles.
In to the improvement project of above-mentioned taper robot, top at described telescopic arm is provided with slide rail, described slide rail is provided with the chute of an end opening, the not openend of described slide rail is articulated with on the hinged end of two halves articulated jib of described half scissors mechanism, the turning cylinder at middle part, all scissor-types unit is outstanding to the same side is outwards protruding axle, and this protruding axle slides and is nested in described chute; The not openend of described slide rail is fixed in described terminal works mechanism.
In to the improvement project of above-mentioned taper robot, described telescopic arm is vertically mounted on column; The movable end of described telescopic arm bottom is provided with rolling bearing; On described column, be provided with the slide rail sliding therein for rolling bearing; Described telescopic drive part is arranged on column, and drives rolling bearing to slide in slide rail by ball screw, nut assembly.
In to the improvement project of above-mentioned taper robot, described column is vertically fixedly installed on rotating basis, on described rotating basis, rotary drive motor is installed, and it drives column rotation by the transmission such as gear or belt pulley.
In to the improvement project of above-mentioned taper robot, described movable end has one; The other end of described telescopic arm bottom is stiff end.
In to the improvement project of above-mentioned taper robot, described movable end has two, and they drive and be connected with telescopic drive part separately respectively.
In to the improvement project of above-mentioned taper robot, described movable end has one, and the other end of the telescopic drive part being connected with this movable end is connected with arbitrary hinged end of telescopic arm; The other end of described telescopic arm bottom is stiff end.
Compared with prior art, the invention has the beneficial effects as follows:
1), because cone of mechanical arm adopts singlely by direction of extension, constitutionally stable scissor-type mechanism composition, makes it simple in structure, the direction of motion is unique, thereby can realize directed flexiblely, and the rigidity of robot and intensity are increased, load-carrying ability improves;
2), due to described telescopic arm tapered shape all the time, so having, the telescopic arm of cone-shaped is equal to leg-of-mutton stability, that is to say, described drive end is equal to leg-of-mutton base, and described working end is equal to vertex position relative with base in triangle, so just can make the stretching, extension of described cone of mechanical arm or folding movement stable, Stability Analysis of Structures when work, can realize fixed point work, operating accuracy improves greatly; And because drive end width is larger than described working end width, when making its magnification large, make the stretching motion of tapered arm more stable, thereby can more grow the flexible of displacement;
3), when telescopic arm from the shortest reach the longest, the bottom movable end needing moves little, its bottom movable end displacement is 5% ~ 10% of arm elongated distance, keep so on the one hand the span of bottom from stiff end to movable end (no matter arm extends or shortens) all the time enough greatly, so the stressed stable state of arm just can be improved as triangular base in the bottom of tapered telescopic arm, can make again on the other hand the movement of bottom movable end little, so can make the desirable shorter size of leading screw, guide rail or tooth bar matching with it, thereby save material and reduce costs;
4), because the working end of described cone of mechanical arm is narrow, can be applicable to like this work in narrow space, as utilize the narrow advantage in working end, described cone of mechanical arm is put in to fire door gripping Forging part, therefore range of application of the present invention is more extensive.
5), the spread length of the telescopic arm of taper increases several times than the arm of traditional knuckle shaped, because the telescopic arm of taper is made up of many articulated jibs and many articulation joint, they stretch simultaneously and shrink in same level, will realize equal spread length like this time, the less energy consumption that actuator is paid, thus use cost reduced.
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
[brief description of the drawings]
Fig. 1 is the structural representation one of the embodiment of the present invention one;
Fig. 2 is the structural representation two (while not loading onto terminal works mechanism) of the embodiment of the present invention one;
Fig. 3 is the structural representation (while not loading onto terminal works mechanism) of the embodiment of the present invention two;
Fig. 4 is the top view of telescopic arm of the present invention;
The structural representation (while not loading onto terminal works mechanism) of Fig. 5 embodiment of the present invention three;
Fig. 6 is the contraction state figure of the telescopic arm of the embodiment of the present invention one, two, three;
The structural representation (while not loading onto terminal works mechanism) of Fig. 7 embodiment of the present invention four;
Fig. 8 is the contraction state figure of the telescopic arm of Fig. 7;
Fig. 9 is the movement locus schematic diagram of telescopic arm of the present invention.
[detailed description of the invention]
The present invention is a kind of taper robot, as shown in Fig. 1 to 8, and the terminal works mechanism 2 that it comprises telescopic arm 1 and is installed on described telescopic arm 1 one ends;
Described telescopic arm 1 is working end (being top) in that one end being connected with terminal works mechanism 2, and its other end (i.e. bottom) is drive end; Described telescopic arm 1 is by multiple scissor-types unit 11 and one and half scissor-type unit 12 hinged composition successively; Described scissor-type unit 11 is made up of two articulated jibs 111, and these two articulated jib 111 middle parts are hinged by turning cylinder 112; The hinged end correspondence of the articulated jib 111 of two adjacent described scissor-type unit 11 is hinged; Described half scissor-type unit 12 by two at one end hinged half articulated jib 121 form, the other end of this two and half hinges pivoted arm 121 is hinged with the hinged end of two articulated jibs 111 of that scissor-type unit 11 of outermost end respectively; The two ends of described telescopic arm bottom, wherein having one end at least is that the movable end that is used for driving the flexible telescopic drive part 3 of telescopic arm has been installed;
Forming all scissor-types unit 11 of described telescopic arm 1 and the articulated jib 111 of half scissors unit 12 and the length of half articulated jib 121 successively decreases and forms tapering telescopic arm from bottom toward top-direction gradient;
The present invention, in when work, is first worked by telescopic drive part 3, and it just can make telescopic arm stretch, and in the time stretching to correct position, terminal works mechanism 2 such as just can start to carry out gripping, promote or pull at the work.
Tool of the present invention has the following advantages:
1), because cone of mechanical arm adopts singlely by direction of extension, constitutionally stable scissor-type mechanism composition, makes it simple in structure, the direction of motion is unique, thereby can realize directed flexiblely, and the rigidity of robot and intensity are increased, load-carrying ability improves; 2), due to described telescopic arm tapered shape all the time, so having, the telescopic arm of cone-shaped is equal to leg-of-mutton stability, that is to say, described drive end is equal to leg-of-mutton base, and described working end is equal to vertex position relative with base in triangle, so just can make the stretching, extension of described cone of mechanical arm or folding movement stable, Stability Analysis of Structures when work, can realize fixed point work, operating accuracy improves greatly; And because drive end width is larger than described working end width, when making its magnification large, make the stretching motion of tapered arm more stable, thereby can more grow the flexible of displacement; 3), when telescopic arm from the shortest reach the longest, the bottom movable end needing moves little, its bottom movable end displacement is 5% ~ 10% of arm elongated distance, keep so on the one hand the span of bottom from stiff end to movable end (no matter arm extends or shortens) all the time enough greatly, so the stressed stable state of arm just can be improved as triangular base in the bottom of tapered telescopic arm, can make again on the other hand the movement of bottom movable end little, so can make the desirable shorter size of leading screw, guide rail or tooth bar matching with it, thereby save material and reduce costs; 4), because the working end of described cone of mechanical arm is narrow, can be applicable to like this work in narrow space, as utilize the narrow advantage in working end, described cone of mechanical arm is put in to fire door gripping Forging part, therefore range of application of the present invention is more extensive.
Preferably, two articulated jibs 111 of described scissor-type unit 11 are in the turning cylinder 112 places bending at their middle parts, its wrap direction is rolled over toward taper direction, this can make the width of the drive end of telescopic arm 1 in stretching process, change less, so the width of described drive end remains larger width, thereby make the structure of described telescopic arm more stable, operating accuracy is higher. The tapering of telescopic arm is conventionally proper between 0 to 80 degree, and the bending angle scope of described articulated jib 111 is 0-80 degree. As shown in the embodiment of Fig. 5, tapering is the twice of the bending angle of articulated jib 111, and the tapering of telescopic arm is 15 degree, now, and the bending angle A=7.5 degree of articulated jib. As shown in Fig. 1,3,5 embodiment mono-, two, three, the bending angle of all scissor-types unit of telescopic arm is the same. Preferably, in order to make robots arm there is better intensity of load and rigidity, and save material, now, the scissor-type unit of described telescopic arm also can be made up of the articulated jib of two or more different bending angles, be that telescopic arm is made up of the scissor-type unit of two or more different bending angles, as Fig. 7,8, such as, the bending angle of the articulated jib of part scissor-type unit can be identical, the bending angle of the articulated jib of another part scissor-type unit can be different, and this will determine according to the flexible needs of robot. For the telescopic arm of different bending angles, normally the bevel angle of that scissor-type unit of bottom is large, and the bevel angle of that scissor-type unit at top is relatively little, and synthetic like this tapered arm is the taper of broken line more than from the side.
In embodiment mono-, two, three, as shown in Figures 1 to 6, be provided with slide rail 4 at the top of described telescopic arm 1, described slide rail 4 is provided with the chute 41 of an end opening, the not openend of described slide rail 41 is articulated with on the hinged end of two halves articulated jib 121 of described half scissors mechanism 12, the turning cylinder 112 at 11 middle parts, all scissor-types unit is outstanding to the same side is outwards protruding axle, and this protruding axle slides and is nested in described chute 41; The not openend of described slide rail 4 is fixed in described terminal works mechanism 2, and telescopic arm is when flexible like this, and slide rail is all the time in level, thus guaranteed operating mechanism's work steadily and reliable. The chute 41 Length Ratio telescopic arms 1 of slide rail 4 reach the turning cylinder of that scissor-type unit of its outermost end when the longest to the distance between the hinged end of the two halves articulated jib of half scissor-type unit, when avoiding being elongated to the longest position, the chute openend of slide rail comes off. In the time that telescopic arm launches, except that scissor-type unit 11 of the most close working end, the turning cylinder 112 of all the other all scissor-types unit 11 skids off chute in succession; And in the time shrinking, the turning cylinder of all the other scissor-type unit slides into chute in succession, be exactly that while being retracted to short status, the protruding axle of the turning cylinder of all scissor-types unit slides in chute as shown in Figure 6.
In embodiment mono-, two, three, described telescopic arm 1 is vertically mounted on column 5; The movable end of described telescopic arm bottom is provided with rolling bearing 6; On described column 5, be provided with the slide rail 51 sliding therein for rolling bearing 6; Described telescopic drive part 3 is arranged on column 5, and drive rolling bearing 6 to slide in slide rail 51 by ball screw 7, nut assembly 8, the present embodiment one, two, three is all to realize sliding guide by the mode of " rolling bearing+slide rail ", at this moment because the stressed of this robot is mainly bearing capacity, there is the complicated power such as cutting, vibration unlike lathe, therefore can make fit clearance, glacing flatness, the depth of parallelism to slide rail, even the requirement of surface quality reduces greatly, thereby has reduced cost.
Preferably, for robot is even worked in 360 degree circumference range in certain angle, at this moment, column 5 is vertically fixedly installed on rotating basis 9, on described rotating basis 9, rotary drive motor 10 is installed, it drives column 5 to rotate by the transmission such as gear or belt pulley. Because the effective working space of this robot is a cylinder rotating around column, mobile to another point from any, its advantage is that tapered arm rotates become rugosity under contraction state time, can greatly reduce like this its rotary inertia, thus pick up speed and raising the efficiency. For example: as shown in Figure 9, when as mobile from A point to B point in figure, Path selection: be first recovered to O point from A point--turn approximately 120 and spend-make again semi-girder from O point to B point, and when also can obtain effect that a braking stops operating in the time that B point arm is stretched from O point, thereby slow down because make when semi-girder rotary inertia increase, as then figure skater's rotation high up in the air opens the continuous action that arm stops the rotation. Such Path selection can be accelerated translational speed, thereby increases work efficiency.
In the present embodiment, as shown in Figure 4, telescopic arm has two rows, after their parallel being separated by, is connected by connecting plate in working end, and arm that so just can synchronization telescope Lai Shi robot is flexible more steady.
In the embodiment mono-shown in Fig. 2, the upper end, bottom of telescopic arm is fixed on column, and actuator drives and is connected with the lower end, bottom of telescopic arm, can make like this stressed good of mechanical arm, can bear heavy duty. In the embodiment bis-shown in Fig. 3, the lower end, bottom of telescopic arm is fixed on column, and actuator drives and is connected with the upper end, bottom of telescopic arm, and now its carrying is slightly poorer, but having individual advantage is to have a movement of upwards lifting when receiving when arm simultaneously, workpiece and raising the efficiency is like this conducive to take. In the embodiment tri-shown in Fig. 5, be connected with actuator respectively at the upper and lower end of telescopic arm bottom, can realize flexible by differential movement like this.
In the embodiment shown in Fig. 1 to 3, described movable end has one; The other end of described telescopic arm bottom is stiff end. In the embodiment shown in fig. 5, described movable end has two, and they drive and be connected with telescopic drive part 3 separately respectively, when these two telescopic drive parts are worked simultaneously, can realize differential movement. In these two embodiment, described telescopic drive part 3 is conventionally by the leading screw and nut, slide rail and the guide rail that match, or the combination of rack and pinion drives telescopic arm flexible. In the embodiment shown in Fig. 7,8, described movable end has one, and the other end of the telescopic drive part 3 being connected with this movable end is connected with arbitrary hinged end of telescopic arm (at this, this end is connected with the hinged end of the 3rd scissor-type unit); The other end of described telescopic arm bottom is stiff end; In Fig. 7,8 embodiment, telescopic drive part 3 is mainly the cylinder body such as cylinder, hydraulic cylinder actuator, or uses motor-driven telescoping mechanism.
Although reference above embodiment describes in detail under this disengaging described principle of the present invention of claim restriction and the situation of spiritual scope; can the present invention be made a variety of changes or be revised; it will be apparent to one skilled in the art that by the disclosure; the detailed description of disclosure embodiment is only used for explaining; instead of be used for limiting the present invention, but be defined by the subject-matter of the claims the scope of protection.

Claims (10)

1. a taper robot, is characterized in that, it comprises telescopic arm (1) and is installed on the terminal works mechanism (2) of described telescopic arm (1) one end;
Described telescopic arm (1) is top in that one end being connected with terminal works mechanism (2), and its bottom is drive end; Described telescopic arm (1) is by multiple scissor-types unit (11) and one and half scissor-type unit (12) hinged composition successively; Described scissor-type unit (11) is made up of two articulated jibs (111), and this two articulated jibs (111) middle part is hinged by turning cylinder (112); The hinged end correspondence of the articulated jib (111) of adjacent two scissor-type unit (11) is hinged; Described half scissor-type unit (12) by two at one end hinged half articulated jib (121) form, the other end of these two and half hinge pivoted arms (121) is hinged with the hinged end of two articulated jibs (111) of that scissor-type unit (11) of outermost end respectively; The two ends of described telescopic arm bottom, wherein having one end at least is that the movable end that is used for driving the flexible telescopic drive part (3) of telescopic arm has been installed;
Forming all scissor-types unit (11) of described telescopic arm (1) and the articulated jib (111) of half scissors unit (12) and the length of half articulated jib (121) successively decreases and forms tapering telescopic arm from bottom toward top-direction gradient.
2. taper according to claim 1 robot, is characterized in that, two articulated jibs (111) of described scissor-type unit (11) are located bending at the turning cylinder (112) at they middle parts, and its wrap direction is toward taper direction bending.
3. taper according to claim 2 robot, is characterized in that, the range of taper of described telescopic arm (1) is 0-80 degree; The bending angle scope of described articulated jib is 0-80 degree.
4. according to the taper robot described in claim 1,2 or 3, it is characterized in that, the tapering of described telescopic arm is made up of the scissor-type unit of two kinds or above different bending angles.
5. taper according to claim 4 robot, it is characterized in that, be provided with slide rail (4) at the top of described telescopic arm (1), described slide rail (4) is provided with the chute (41) of an end opening, the not openend of described slide rail (41) is articulated with on the hinged end of two halves articulated jib (121) of described half scissors mechanism (12), the turning cylinder (112) at middle part, all scissor-types unit (11) is outstanding to the same side is outwards protruding axle, and this protruding axle slides and is nested in described chute (41); The not openend of described slide rail (4) is fixed in described terminal works mechanism (2).
6. taper according to claim 5 robot, is characterized in that, described telescopic arm (1) is vertically mounted on column (5); The movable end of described telescopic arm bottom is provided with rolling bearing (6); On described column (5), be provided with the slide rail (51) sliding therein for rolling bearing (6); It is upper that described telescopic drive part (3) is arranged on column (5), and drive rolling bearing (6) to slide in slide rail (51) by ball screw (7), nut assembly (8).
7. taper according to claim 6 robot, it is characterized in that, it is upper that described column 5 is vertically fixedly installed to rotating basis (9), and rotary drive motor (10) is installed on described rotating basis (9), and it drives column (5) rotation by gear or belt pulley transmission.
8. according to the taper robot described in claim 5,6 or 7, described movable end has one; The other end of described telescopic arm bottom is stiff end.
9. according to the taper robot described in claim 5,6 or 7, described movable end has two, and they drive and be connected with telescopic drive part (3) separately respectively.
10. according to the taper robot described in claim 5,6 or 7, described movable end has one, and the other end of telescopic drive part (3) and the arbitrary hinged end of telescopic arm that are connected with this movable end are connected; The other end of described telescopic arm bottom is stiff end.
CN201510593162.5A 2015-09-17 2015-09-17 Conical robot Pending CN105583827A (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN106379740A (en) * 2016-08-12 2017-02-08 杭州娃哈哈精密机械有限公司 Telescopic mechanical device
CN106584359A (en) * 2016-12-21 2017-04-26 中国南方航空工业(集团)有限公司 Locking plate locking device
CN107914285A (en) * 2017-11-15 2018-04-17 佛山市禾才科技服务有限公司 A kind of straight-bar cone of mechanical arm
CN108145744A (en) * 2017-12-25 2018-06-12 佛山市禾才科技服务有限公司 A kind of quasi-truss formula machinery arm configuration
CN108161898A (en) * 2017-12-25 2018-06-15 佛山市禾才科技服务有限公司 A kind of quasi-truss formula mechanical arm
CN109394096A (en) * 2018-09-28 2019-03-01 陈泽敏 For building the cleaning plant of interior ceiling
CN111155797A (en) * 2018-08-21 2020-05-15 雷晓莉 Extending mechanism and extending method of extending type stage
CN112193347A (en) * 2020-11-11 2021-01-08 张丽英 Crawling robot

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CN202296832U (en) * 2011-10-25 2012-07-04 无锡毅和帮自动化设备有限公司 Crane manipulator
CN102577754A (en) * 2012-03-02 2012-07-18 绍兴文理学院 Automatic Torreya grandis picking machine
CN103523707A (en) * 2013-10-15 2014-01-22 唐易平 Shear mode mechanism capable of being controlled in numerical mode and shear mode mechanism drive system formed by shear mode mechanisms in combined mode
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US3672104A (en) * 1970-12-23 1972-06-27 Trw Inc Nesting three dimensional lazy tong structure
EP0275737B1 (en) * 1986-12-23 1989-12-13 Michel Donze Gas torch with an articulated and extensible body
CN2483370Y (en) * 2001-06-22 2002-03-27 北京天矗升降机械有限公司 Scissors like lifting mechanism driven by asymmetric hydraulic cylinder
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106379740A (en) * 2016-08-12 2017-02-08 杭州娃哈哈精密机械有限公司 Telescopic mechanical device
CN106584359A (en) * 2016-12-21 2017-04-26 中国南方航空工业(集团)有限公司 Locking plate locking device
CN107914285A (en) * 2017-11-15 2018-04-17 佛山市禾才科技服务有限公司 A kind of straight-bar cone of mechanical arm
CN108145744A (en) * 2017-12-25 2018-06-12 佛山市禾才科技服务有限公司 A kind of quasi-truss formula machinery arm configuration
CN108161898A (en) * 2017-12-25 2018-06-15 佛山市禾才科技服务有限公司 A kind of quasi-truss formula mechanical arm
CN111155797A (en) * 2018-08-21 2020-05-15 雷晓莉 Extending mechanism and extending method of extending type stage
CN111155797B (en) * 2018-08-21 2021-08-13 钟壬銮 Extending mechanism and extending method of extending type stage
CN109394096A (en) * 2018-09-28 2019-03-01 陈泽敏 For building the cleaning plant of interior ceiling
CN109394096B (en) * 2018-09-28 2020-11-20 日照大象房屋建设有限公司 Cleaning device for ceiling in building
CN112193347A (en) * 2020-11-11 2021-01-08 张丽英 Crawling robot

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