CN105818138B - A kind of auto parts and components automatic stacker crane device people is with stacking device - Google Patents
A kind of auto parts and components automatic stacker crane device people is with stacking device Download PDFInfo
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- CN105818138B CN105818138B CN201610352081.0A CN201610352081A CN105818138B CN 105818138 B CN105818138 B CN 105818138B CN 201610352081 A CN201610352081 A CN 201610352081A CN 105818138 B CN105818138 B CN 105818138B
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- side chain
- electric
- chuck
- parallel mechanism
- redundancy parallel
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000013519 translation Methods 0.000 claims abstract description 6
- 238000013016 damping Methods 0.000 claims description 16
- 241000237509 Patinopecten sp. Species 0.000 claims description 6
- 235000020637 scallop Nutrition 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010028813 Nausea Diseases 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
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- 238000005495 investment casting Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of auto parts and components automatic stacker crane device people with stacking device, including redundancy parallel mechanism and palletizing mechanical arm；Described redundancy parallel mechanism is located at directly over palletizing mechanical arm, and redundancy parallel mechanism lower end is connected with palletizing mechanical arm.A series of operations such as crawl, carrying and the stacking to wheel hub can be achieved in the present invention, and automaticity is high, stable movement is flexible, operating efficiency is high, solve the problems such as manual work cost is high, efficiency is low and dangerous big；Its redundancy parallel mechanism uses the RPS of 2 UPS 2 parallel institution form, it can realize the motion for rotating totally four free degree directions moved along X-axis and Z axis and around X-axis and around Y-axis, whole palletizing mechanical arm is driven to carry out the motion that a translation three rotates totally four free degree directions in space by redundancy parallel mechanism, redundancy parallel mechanism is mainly used in the adjustment of the local microsize when present invention carries out wheel hub palletizing operation.
Description
Technical field
The present invention relates to auto parts and components to handle mechanical field, specifically a kind of auto parts and components automatic stacker crane
Device people is with stacking device.
Background technology
With the fast development of social economy and science and technology, people's trip vehicles increase, and present people's trip is most
All it is that self-driving is driven, therefore, automobile is seen everywhere, and wherein Household electric motor car, car, new-energy automobile and electric automobile etc. are got over
Come more, parts industry is also developed rapidly, and the one kind of wheel hub as automobile parts itself, its wheel hub is called
Wheel rim, wheel or tire bell, it is metal parts of the drum-shaped and center of wide support tire in tire on axle；Wheel hub according to
Diameter, width, molding mode and material are different, and its species is various；The wheel hub of in the market according to material can be divided into steel wheel hub and
The major class of alloy wheel hub two, the manufacture method of aluminium alloy wheel hub have three kinds, are gravitational casting, forging and low pressure hot investment casting respectively；
The structure construction of wheel hub is divided into wheel rim, spoke, wheel rim, offset distance, bcad seats, bottom land and valve port, and wherein wheel rim is filled with tire
With cooperation, the wheel portion of tire is supported；Spoke is to implement installation connection, the wheel portion of support wheel rim with axle hub；Partially
Away from being wheel rim median plane to the distance between spoke installation surface, have positive offset distance, zero bias away from negative bias away from it point；Wheel rim is to maintain and propped up
Support the inner rim portion in tire direction；Bcad seats is also known as mounting surface, and with taking turns beads contact, support maintains the wheel rim in tire radius direction
Part；Bottom land is assembled and disassembled for convenience of tire, and the pit of certain depth and width is left on wheel rim；Valve port is installation wheel nausea
The hole of door mouth.
Wheel hub is because material is typically all aluminium alloy or steel material, and therefore, hub weight compares weighting, at present for life
Producer or car repair shop are produced, it is all that artificial carrying is stacked or fork truck carries out carrying heap that the carrying for wheel hub, which is either taken,
Put, so not only occupy substantial amounts of labour, production cost is high, and carrying stacking efficiency of taking is low, while its interprocedual
Certain dangerous security incident is easily caused, for example scratches operation arm or pounds legs and feet.In consideration of it, the invention provides one
Auto parts and components automatic stacker crane device people is planted with stacking device.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of auto parts and components automatic stacker crane device people's code
Pile device.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of auto parts and components automatic stacker crane device people is with stacking device, including redundancy parallel mechanism and palletizing mechanical arm；
Described redundancy parallel mechanism is located at directly over palletizing mechanical arm, and redundancy parallel mechanism lower end is connected with palletizing mechanical arm.
As a further improvement on the present invention, described redundancy parallel mechanism include fixed platform, moving platform, the first side chain and
Second side chain；Described fixed platform and moving platform is disc-shaped structure, and moving platform is located at immediately below fixed platform；Described
The quantity of one side chain and the second side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and first
The both ends of side chain and the second side chain are respectively connected with fixed platform and moving platform, and the horizontal peace of the first side chain and the second side chain
It is 90 degree to fill angle；The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect post and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
It is attached between lower end using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connecting pole is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed on the first electric pushrod；Pass through Hooke's hinge
The rotation of both direction can be carried out, the rotation in three directions can be carried out by the first spherical hinge, can be entered by the first electric pushrod
Row moves up and down, and the first side chain uses the form of 2-UPS parallel institutions, and adds the first side chain by the first damping spring and transport
Stationarity when dynamic, improve the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connecting pole and the second damping spring；The second described ear mount is fixed on fixed platform upper surface
On, it is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge is fixed on the lower surface of moving platform by the second connecting pole, and the second damping spring is around being enclosed on
On second electric pushrod；The rotation in a direction can be carried out by rotational pin, three directions can be carried out by the second spherical hinge
Rotate, can be moved up and down by the second electric pushrod, the second side chain uses the form of 2-RPS parallel institutions, and passes through the
Two damping springs add stationarity during second chain movement, improve the exercise performance of the present invention；Redundancy parallel mechanism leads to
Cross fixed platform, moving platform, the first side chain and the second side chain and constitute four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
RPS parallel institution form, it, which can be realized, moves along X-axis and Z axis and around X-axis and around rotation four free degree sides of Y-axis totally
To motion, and four frees degree are independent, by four frees degree can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, motion is flexible, in the present invention, whole palletizing mechanical is driven by redundancy parallel mechanism
Hand can carry out the motion that a translation three rotates totally four free degree directions in space, and redundancy parallel mechanism is mainly used in the present invention
The adjustment of local microsize during progress wheel hub palletizing operation.
As a further improvement on the present invention, described palletizing mechanical arm includes stacking stand, electric sliding rail, mobile cunning
Block, electric turntable, hydraulic cylinder, chuck and clamping screw, and electric sliding rail, mobile sliding block, electric turntable, hydraulic cylinder, chuck and
The quantity of clamping screw is four；Described stacking stand is in cross-shaped configuration, and mounting disc, stacking are provided with the middle part of stacking stand
Leg is symmetrically arranged with the outside of stand, electric sliding rail is fixed on the foot bottom end face of stacking stand, and electric sliding rail outboard end
Block is provided with, mobile sliding block is arranged on electric sliding rail, and electric turntable is located at immediately below mobile sliding block, and electric turntable upper end
It is connected with mobile sliding block, electric turntable lower end is connected with hydraulic cylinder upper end, using locking between hydraulic cylinder lower end and chuck
Bolt is attached fixation, and hydraulic cylinder uses two-action multi-stage telescoping hydraulic cylinder, and chuck is in sector structure；Specific operation
When, by the scallop hole on the mobile upright position alignment wheel hub by chuck of the cooperation regulation of electric sliding rail and mobile sliding block, and
The outer rim side of chuck is adjusted to externally by the rotation of electric turntable, then hanging down for chuck is driven by the stretching routine of hydraulic cylinder
Directly move downward, when chuck is transferred in the scallop hole of wheel hub, adjusted the outer rim side of chuck by the rotation of electric turntable
In in pairs, and the upward vertical movement for the contractile motion drive chuck for passing through hydraulic cylinder, it is achieved thereby that palletizing mechanical arm is to wheel
The crawl of hub, stacking processing is carried out to wheel hub finally by the present invention.
Compared with prior art, the present invention has advantages below：
(1) a series of operations such as crawl, carrying and the stacking to wheel hub can be achieved in the present invention, and automaticity is high, fortune
Dynamic steady flexible, operating efficiency height, solves the problems such as manual work cost is high, efficiency is low and dangerous big.
(2) redundancy parallel mechanism of the invention constitutes four selfs by fixed platform, moving platform, the first side chain and the second side chain
By degree symmetric parallel mechanism, and it uses 2-UPS-2-RPS parallel institution form, its can realize moved along X-axis and Z axis and
The motion for rotating totally four free degree directions around X-axis and around Y-axis, and four frees degree are independent, pass through four frees degree
Can be with co-ordination, the curvilinear motion of the moving platform track that makes along predetermined space, stable movement, motion is flexible, in the present invention,
Drive whole palletizing mechanical arm to carry out a translation three in space by redundancy parallel mechanism and rotate totally four free degree directions
Motion, redundancy parallel mechanism be mainly used in the present invention carry out wheel hub palletizing operation when local microsize adjustment.
(3) palletizing mechanical arm of the invention can carry out the motion that two translations one rotate three degree of freedom direction altogether, its radial direction
Spacing is adjustable, is easy to capture the wheel hub of different-diameter size, and it stretches height adjustable, is easy to disposably capture multiple wheels
Hub, capture efficiency high.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the front view of redundancy parallel mechanism of the present invention；
Fig. 3 is the dimensional structure diagram of palletizing mechanical arm of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figure 1 to Figure 3, a kind of auto parts and components automatic stacker crane device people is with stacking device, including redundant parallel
Structure 4 and palletizing mechanical arm 5；Described redundancy parallel mechanism 4 is located at directly over palletizing mechanical arm 5, and the lower end of redundancy parallel mechanism 4
It is connected with palletizing mechanical arm 5.
As depicted in figs. 1 and 2, described redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42, the and of the first side chain 43
Second side chain 44；Under described fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 is located at fixed platform 41 just
Side；The first described side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on and allocated
Between platform 41 and moving platform 42, the both ends of the first side chain 43 and the second side chain 44 are respectively connected with fixed platform 41 and moving platform 42
Connect, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes the first ear mount
431st, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on the upper surface of fixed platform 41, is adopted between the first ear mount 431 and the lower end of the first electric pushrod 433
It is attached with Hooke's hinge 432, the upper end of the first electric pushrod 433 is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
Cross the first connecting pole 435 to be fixed on the lower surface of moving platform 42, the first damping spring 436 is around being enclosed on the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, is led to
Crossing the first electric pushrod 433 can move up and down, and the first side chain 43 uses the form of 2-UPS parallel institutions, and passes through first
Damping spring 436 adds the stationarity during motion of the first side chain 43, improves the exercise performance of the present invention；Described second
Chain 44 includes the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445 and the
Two damping springs 446；The second described ear mount 441 is fixed on the upper surface of fixed platform 41, and the second ear mount 441 electronic pushes away with second
It is attached between the lower end of bar 443 using rotational pin 442, the upper end of the second electric pushrod 443 is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second connecting pole 445, and the second damping spring 446 is around being enclosed on
On second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, three can be carried out by the second spherical hinge 444
The rotation in individual direction, it can be moved up and down by the second electric pushrod 443, the second side chain 44 is using 2-RPS parallel institutions
Form, and stationarity when the second side chain 44 moves is added by the second damping spring 446, improve the motility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform 42, the first side chain 43 and the second side chain 44
Claim parallel institution, and it uses 2-UPS-2-RPS parallel institution form, it, which can be realized, moves along X-axis and Z axis and around X-axis
With the motion around rotation totally four free degree directions of Y-axis, and four frees degree are independent, can also be assisted by four frees degree
Work is adjusted, curvilinear motion of the moving platform track made along predetermined space, stable movement, motion is flexible, in the present invention, by superfluous
Remaining parallel institution 4 drives whole palletizing mechanical arm 5 to carry out the fortune that a translation three rotates totally four free degree directions in space
Dynamic, redundancy parallel mechanism 4 is mainly used in the adjustment of the local microsize when present invention carries out wheel hub palletizing operation.
As shown in figures 1 and 3, described palletizing mechanical arm 5 include stacking stand 51, electric sliding rail 52, mobile sliding block 53,
Electric turntable 54, hydraulic cylinder 55, chuck 56 and clamping screw 57, and electric sliding rail 52, mobile sliding block 53, electric turntable 54, liquid
The quantity of cylinder pressure 55, chuck 56 and clamping screw 57 is four；Described stacking stand 51 is in cross-shaped configuration, stacking stand 51
Middle part is provided with mounting disc, and the outside of stacking stand 51 is symmetrically arranged with leg, and electric sliding rail 52 is fixed on the branch of stacking stand 51
On sole end face, and the outboard end of electric sliding rail 52 is provided with block, and mobile sliding block 53 is arranged on electric sliding rail 52, electric turntable
54 immediately below mobile sliding block 53, and the upper end of electric turntable 54 is connected with mobile sliding block 53, the lower end of electric turntable 54 and liquid
The upper end of cylinder pressure 55 is connected, and fixation, and hydraulic cylinder are attached using clamping screw 57 between the lower end of hydraulic cylinder 55 and chuck 56
55 use two-action multi-stage telescoping hydraulic cylinder, and chuck 56 is in sector structure；During specific operation, pass through electric sliding rail 52 and movement
Scallop hole on the mobile upright position alignment wheel hub by chuck 56 of cooperation regulation of sliding block 53, and turned by electric turntable 54
It is dynamic to be adjusted to the outer rim side of chuck 56 externally, then the fortune vertically downward for the stretching routine drive chuck 56 for passing through hydraulic cylinder 55
It is dynamic, when chuck 56 is transferred in the scallop hole of wheel hub, the outer rim side of chuck 56 is adjusted to by the rotation of electric turntable 54
Internally, and by the contractile motion of hydraulic cylinder 55 upward vertical movement of chuck 56 is driven, it is achieved thereby that palletizing mechanical arm 5 is right
The crawl of wheel hub, stacking processing is carried out to wheel hub finally by the present invention.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (1)
1. a kind of auto parts and components automatic stacker crane device people is with stacking device, it is characterised in that：Including redundancy parallel mechanism and code
Pile manipulator；Described redundancy parallel mechanism is located at directly over palletizing mechanical arm, and redundancy parallel mechanism lower end and palletizing mechanical
Palmistry connects；Wherein：
Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform is put down with dynamic
Platform is disc-shaped structure, and moving platform is located at immediately below fixed platform；The first described side chain and the quantity of the second side chain are
Two, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and the both ends of the first side chain and the second side chain are respectively
It is connected with fixed platform and moving platform, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；
The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the
One damping spring；The first described ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection
Post is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed on the first electric pushrod；
The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the
Two damping springs；The second described ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection
Post is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed on the second electric pushrod；
Described palletizing mechanical arm includes stacking stand, electric sliding rail, mobile sliding block, electric turntable, hydraulic cylinder, chuck and locking
Bolt, and electric sliding rail, mobile sliding block, electric turntable, hydraulic cylinder, the quantity of chuck and clamping screw are four；Described code
Pile stand is in cross-shaped configuration, and mounting disc is provided with the middle part of stacking stand, leg, electric sliding are symmetrically arranged with the outside of stacking stand
Rail is fixed on the foot bottom end face of stacking stand, and electric sliding rail outboard end is provided with block, and mobile sliding block is arranged on electronic
On slide rail, electric turntable is located at immediately below mobile sliding block, and electric turntable upper end is connected with mobile sliding block, electric turntable lower end
It is connected with hydraulic cylinder upper end, fixation is attached using clamping screw between hydraulic cylinder lower end and chuck, and hydraulic cylinder uses
Two-action multi-stage telescoping hydraulic cylinder, chuck are in sector structure；
During work, drive whole palletizing mechanical arm to carry out a translation three in space by redundancy parallel mechanism and rotate totally four
The motion in free degree direction, redundancy parallel mechanism are mainly used in the local microsize when present invention carries out wheel hub palletizing operation
Adjustment, the scallop hole being aligned by the mobile upright position by chuck of cooperation regulation of electric sliding rail and mobile sliding block on wheel hub,
And be adjusted to the outer rim side of chuck externally by the rotation of electric turntable, then chuck is driven by the stretching routine of hydraulic cylinder
Vertical downward movement, when chuck is transferred in the scallop hole of wheel hub, the outer rim side of chuck is adjusted by the rotation of electric turntable
It is made into internally, and the upward vertical movement for the contractile motion drive chuck for passing through hydraulic cylinder, it is achieved thereby that the present invention is to wheel hub
Crawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352081.0A CN105818138B (en) | 2016-05-25 | 2016-05-25 | A kind of auto parts and components automatic stacker crane device people is with stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352081.0A CN105818138B (en) | 2016-05-25 | 2016-05-25 | A kind of auto parts and components automatic stacker crane device people is with stacking device |
Publications (2)
| Publication Number | Publication Date |
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| CN105818138A CN105818138A (en) | 2016-08-03 |
| CN105818138B true CN105818138B (en) | 2017-12-19 |
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| CN201610352081.0A Expired - Fee Related CN105818138B (en) | 2016-05-25 | 2016-05-25 | A kind of auto parts and components automatic stacker crane device people is with stacking device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240834A (en) * | 2016-07-29 | 2016-12-21 | 安庆米锐智能科技有限公司 | A kind of unmanned plane landing platform based on parallel institution |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000020128A (en) * | 1998-07-07 | 2000-01-21 | Seiko Seiki Co Ltd | Parallel mechanism applied with piezoelectric element |
| CN1170658C (en) * | 2000-04-21 | 2004-10-13 | 清华大学 | Four-freedom parallel robot mechanism |
| CN101628417A (en) * | 2009-08-06 | 2010-01-20 | 汕头大学 | Three-rotational DOF parallel robot with active telescopic pole |
| CN104369182B (en) * | 2014-11-06 | 2016-04-06 | 燕山大学 | A kind of 4SPR+2R type four-freedom parallel mechanism |
| CN106586826B8 (en) * | 2015-06-11 | 2018-01-19 | 连云港浩森矿产品有限公司 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN104858887B (en) * | 2015-06-11 | 2016-09-07 | 温州市兴泰科技有限公司 | A kind of six degree of freedom based on parallel institution is grabbed bucket from steady casing |
| CN104891332B (en) * | 2015-06-11 | 2017-02-08 | 江苏凯欣电气设备有限公司 | Three degree-of-freedom self-stabilizing box body grab bucket based on parallel mechanism |
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| CB03 | Change of inventor or designer information |
Inventor after: Cao Yu Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor before: Liu Mingyue |
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Effective date of registration: 20171123 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: Anhui province Anqing City Xinguang village 246001 Yixiu District Lao Feng Zhen Hu Wu group No. 20 Applicant before: Liu Mingyue |
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Effective date of registration: 20190617 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Daxing District, Beijing Patentee after: Beijing hi tech robot Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
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Effective date of registration: 20191016 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co., Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Daxing District, Beijing Patentee before: Beijing hi tech robot Co., Ltd. |
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Granted publication date: 20171219 Termination date: 20210525 |