CN105922231A - Multifunctional carrying device - Google Patents

Multifunctional carrying device Download PDF

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Publication number
CN105922231A
CN105922231A CN201610369421.0A CN201610369421A CN105922231A CN 105922231 A CN105922231 A CN 105922231A CN 201610369421 A CN201610369421 A CN 201610369421A CN 105922231 A CN105922231 A CN 105922231A
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CN
China
Prior art keywords
bar
gear
revolute pair
hydraulic cylinder
cylinder
Prior art date
Application number
CN201610369421.0A
Other languages
Chinese (zh)
Inventor
程荣龙
Original Assignee
蚌埠学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 蚌埠学院 filed Critical 蚌埠学院
Priority to CN201610369421.0A priority Critical patent/CN105922231A/en
Publication of CN105922231A publication Critical patent/CN105922231A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Abstract

The invention discloses a multifunctional carrying device. A tail end actuator comprises a support, a motor and two grabbing branched chains. The motor is mounted on the support. The two grabbing branched chains are fixedly connected with the support. Each grabbing branched chain comprises a first gear, a first shaft, a second gear, a first rod, a ninth rotating pair, a second rod, a tenth rotating pair, a third rod, an eleventh rotating pair, a third gear, a fourth rod, a twelfth rotating pair, a fifth rod, a thirteenth rotating pair, a sixth rod, a fourteenth rotating pair and a second shaft. Vehicle wheels are controlled by a controller to move so as to drive a vehicle body to move to an expected position and stop. A rotation base is controlled by the controller to rotate, so that the tail end actuator rotates so as to adjust the orientation of the tail end actuator, and the vehicle wheels stop rotating in the expected position. The multifunctional carrying device is simple in structure, good in overall operability, high in flexibility, reliable in working and high in efficiency, the manufacturing cost can be reduced, the production efficiency can be improved, and the multifunctional carrying device can be used independently.

Description

A kind of multi-functional carrying device

Technical field

The present invention relates to Handling device, be specifically related to a kind of multi-functional carrying device.

Background technology

Under world's framework of the current height production automation, automatization has become the major way of production, and mechanical hand It is again that automatic production device thinks highly of the ingredient wanted.And applying of mechanical hand is gradually gained popularity now, special It is not at industrial circle, serves irreplaceable effect.

The use of mechanical hand is mainly used in the carrying of industrial work piece at home, and the conveying robot of workpiece mostly and produces Machine connects together, when the workpiece of carrying exceedes the crawl scope of mechanical hand on machine, and just cannot be timely by producing Requirement carries out next step, hinders produce to be normally carried out, is unfavorable for the raising of production efficiency.The machinery connected together Hands is the most expensive, and the scope of application is little, it is impossible in the case of machine does not uses, and is used alone.Overall Use and can increase again the manufacturing cost that work is produced, be unfavorable for that industry improves work efficiency, reach reduced cost and carry high efficiency wanting Ask.

Summary of the invention

The invention aims to provide a kind of Handling device, convenient during use, can be used alone, motility is strong, Public property is strong, with the problem improving industrial production efficiency.

The concrete scheme realizing the present invention is: a kind of multi-functional carrying device, it is characterised in that: include car body, rotation Secondary one, rotary table, revolute pair two, revolute pair three, hydraulic cylinder one cylinder body, moving sets one, hydraulic cylinder one extension bar, Revolute pair four, machinery large arm, revolute pair five, machinery forearm, revolute pair six, hydraulic cylinder two cylinder body, moving sets two, Hydraulic cylinder two extension bar, revolute pair seven, end effector, revolute pair eight, wheel, controller;

Described rotary table is connected by revolute pair one with car body, and rotary table is by revolute pair two with machinery large arm even Connect;Described hydraulic cylinder one cylinder body is connected by revolute pair three with rotary table, and hydraulic cylinder one cylinder body is stretched with hydraulic cylinder one Rod forms moving sets one;Described hydraulic cylinder one extension bar is connected by revolute pair four with machinery large arm;Described machine Tool large arm is connected by revolute pair five with machinery forearm;Described mechanical forearm and hydraulic cylinder two extension bar pass through revolute pair Six connect, and machinery forearm is connected by revolute pair eight with end effector;Described hydraulic cylinder two extension bar and hydraulic cylinder Two cylinder bodies are connected by moving sets two;Described hydraulic cylinder two cylinder body is connected with machinery large arm by revolute pair seven;

Described end effector includes support, motor, two crawl side chains;Described motor is rack-mount, Two crawl side chains are fixed with support and are connected, and capture side chain and include gear one, axle one, gear two, bar one, revolute pair Nine, bar two, revolute pair ten, bar three, revolute pair 11, gear three, bar four, revolute pair 12, bar five, rotation Pair 13, bar six, revolute pair 14, axle two;

Described gear one is arranged on the output shaft of motor, and gear one forms gear with gear two and engages, described axle One, axle two is rack-mount by bearing;Described gear two is arranged on axle one;Described bar one and gear two Fixing connection;Described bar one is connected by revolute pair nine with bar two;Described bar two is with bar three by revolute pair ten even Connect;Described bar three is connected by revolute pair 11 with support;Described gear three is arranged on axle two;Described tooth Wheel three forms gear with gear two and engages;Described bar four is bolted with gear three;Described bar four and bar five Connected by revolute pair 12;Described bar five is crossed revolute pair 13 with bar clematis stem and is connected;Described bar clematis stem crosses rotation Secondary 14 are connected with support;

The job step of described a kind of multi-functional carrying device is as follows: controls wheel by controller and moves, band motor vehicles bodies Move to desired location stop;Control rotary table by controller to rotate, so that end effector rotates, with Adjust the orientation of end effector, arrive desired location and stop operating;Control hydraulic cylinder one by controller to stretch out relatively Hydraulic cylinder one cylinder body moves, and driving mechanical large arm, around revolution base rotation, arrives desired location and stops operating;By control Device processed controls hydraulic cylinder two extension bar opposing hydraulic cylinder two cylinder body and moves, and driving mechanical forearm rotates around machinery large arm, arrives Reach desired location and stop mobile;Controlling motor by controller to rotate forward, driven gear one rotates;Gear one drives Gear two rotates, and gear two driven rod one rotates around axle one, and bar one is by connection driven rod three rotation jig with bar two Rotate, make bar two inward;Gear two makes gear three rotate around axle two around axle two rotation, gear three driven rod four, Bar four around holder pivots, makes bar five inward by the connection driven rod six with bar five;Bar two and the inside fortune of bar five Dynamic crawl object, when promptly object, stops the rotation of motor, carries out next step;

At the end of capturing, then being controlled by controller, carry out object transport and placement, step is as follows: by controlling Device controls rotary table and rotates, so that end effector rotates, to adjust the orientation of end effector, arrives pre- Phase position stops operating;Control hydraulic cylinder one extension bar opposing hydraulic cylinder one cylinder body by controller to move,

Driving mechanical large arm, around revolution base rotation, arrives desired location and stops operating;Hydraulic cylinder is controlled by controller Two extension bar opposing hydraulic cylinder two cylinder bodies move, and driving mechanical forearm rotates around machinery large arm, arrive desired location and stop Mobile;Controlling motor by controller to rotate backward, driven gear one rotates;Gear one driven gear two rotates, tooth Taking turns two driven rods one around axle one rotation, bar one is rotated by connection driven rod three rotation jig with bar two, make bar two to Outer motion, gear two makes gear three rotate around axle two around axle two rotation, gear three driven rod four, bar four by with bar five Connection driven rod six rotation jig rotate, make bar five move out, bar two and bar five jointly move out placement thing Part, motor stalls, repeat above step, perform next time grasping body, carry and place.

The invention has the beneficial effects as follows:

1, the present invention a kind of multi-functional carrying device use machine driving, utilize lever principle, meshed transmission gear, Hydraulic systems etc., carry field for commercial production, it is possible to meet the Articles transfer demand under multiple occasion, to realize Manipulator Transportation object.

2, a kind of multi-functional carrying apparatus structure of the present invention is simple, favorable integrated operability, motility are strong, reliable operation Efficiency is high, and can reduce manufacturing cost, improves and produces work efficiency, it is possible to being used alone, efficient solution must not be carried in time Material and the problem that delays progress, it is also possible to work on other production lines as an independent machine.

Accompanying drawing explanation

Fig. 1 is the population structure schematic diagram of the present invention.

Fig. 2 is the structural representation of the end effector of the present invention.

Fig. 3 is the structural representation capturing side chain of the present invention.

Car body 1 in figure, revolute pair 1, rotary table 3, revolute pair 24, revolute pair 35, hydraulic cylinder one cylinder body 6, Moving sets 1, hydraulic cylinder one extension bar 8, revolute pair 49, machinery large arm 10, revolute pair 5 11, machinery forearm 12, Revolute pair 6 13, hydraulic cylinder two cylinder body 14, moving sets 2 15, hydraulic cylinder two extension bar 16, revolute pair 7 17, end End executor 18, revolute pair 8 19, wheel 20, controller 21, support 22, motor 23, crawl side chain 24, tooth Take turns 1, axle 1, gear 2 27, bar 1, revolute pair 9 29, bar 2 30, revolute pair 10, bar three 32, revolute pair 11, gear 3 34, bar 4 35, revolute pair 12, bar 5 37, revolute pair 13, Bar 6 39, revolute pair 14, axle 2 41.

Detailed description of the invention

For the technological means making the present invention be realized, creation characteristic, reach purpose and be easy to understand with effect, under Face in conjunction with specific embodiments and illustrates, and the present invention is expanded on further.

Such as Fig. 1, a kind of multi-functional carrying device, including car body 1, revolute pair 1, rotary table 3, revolute pair 24, Revolute pair 35, hydraulic cylinder one cylinder body 6, moving sets 1, hydraulic cylinder one extension bar 8, revolute pair 49, machinery large arm 10, revolute pair 5 11, machinery forearm 12, revolute pair 6 13, hydraulic cylinder two cylinder body 14, moving sets 2 15, hydraulic pressure Cylinder two extension bar 16, revolute pair 7 17, end effector 18, revolute pair 8 19, wheel 20, controller 21;Institute Car body 1 lower end stated is equipped with four wheels 20;Described controller 21 is arranged on car body 1 by bolt;Described Rotary table 3 is connected by revolute pair 1 with car body 1, and rotary table 3 is by revolute pair 24 and machinery large arm 10 Connect;Described hydraulic cylinder one cylinder body 6 and rotary table 3 is connected by revolute pair 35, hydraulic cylinder one cylinder body 6 and Hydraulic cylinder one extension bar 8 forms moving sets 1;Described hydraulic cylinder one extension bar 8 and machinery large arm 10 are by rotating Secondary 49 connect;Described mechanical large arm 10 is connected by revolute pair 5 11 with machinery forearm 12;Described machinery is little Arm 12 is connected by revolute pair 6 13 with hydraulic cylinder two extension bar 16, and machinery forearm 12 passes through with end effector 18 Revolute pair 8 19 connects;Described hydraulic cylinder two extension bar 16 is with hydraulic cylinder two cylinder body 14 by moving sets 2 15 even Connect;Described hydraulic cylinder two cylinder body 14 is connected with machinery large arm 10 by revolute pair 7 17.

As shown in Figure 1, Figure 2, Figure 3 shows, a kind of multi-functional carrying device, described end effector 18 includes support 22, motor 23, crawl side chain 24;Described motor 23 is arranged on support 22, and described crawl side chain 24 has Two, capture side chain 24 and be connected with support 22, capture side chain 24 and include gear 1, axle 1, gear two 27, bar 1, revolute pair 9 29, bar 2 30, revolute pair 10, bar 3 32, revolute pair 11, gear three 34, bar 4 35, revolute pair 12, bar 5 37, revolute pair 13, bar 6 39, revolute pair 14, axle 2 41;Described gear 1 is arranged on the output shaft of motor 23, and gear 1 forms gear with gear 2 27 Engagement, described axle 1, axle 2 41 are arranged on support 22 by bearing;Described gear 2 27 is arranged on axle On one 26;Described bar 1 is bolted with gear 2 27;Described bar 1 and bar 2 30 are by turning Dynamic secondary 9 29 connect;Described bar 2 30 is connected by revolute pair 10 with bar 3 32;Described bar 3 32 with Frame 22 is connected by revolute pair 11;Described gear 3 34 is arranged on axle 2 41;Described gear 3 34 Form gear with gear 2 27 to engage;Described bar 4 35 is bolted with gear 3 34;Described bar 4 35 It is connected by revolute pair 12 with bar 5 37;Described bar 5 37 is connected by revolute pair 13 with bar 6 39; Described bar 6 39 is connected with support 22 by revolute pair 14.

Work process: during crawl, operator first judges this device and captures the distance of object space, then passing through controller 21 control, and step is as follows: controls wheel 20 by controller 21 and moves, and band motor vehicles bodies 1 moves to desired location to be stopped; Control rotary table 3 by controller 21 to rotate, so that end effector 18 rotates, to adjust end effector 18 Orientation, arrive desired location stop operating;Hydraulic cylinder one extension bar 8 opposing hydraulic cylinder one cylinder is controlled by controller 21 Body 6 moves, and driving mechanical large arm 10 rotates around rotary table 3, arrives desired location and stops operating;By controller 21 Controlling hydraulic cylinder two extension bar 16 opposing hydraulic cylinder two cylinder body 14 to move, driving mechanical forearm 12 rotates around machinery large arm 10, Arrive desired location and stop mobile;Controlling motor 23 by controller 21 to rotate forward, driven gear 1 rotates;Tooth Take turns 1 driven gears 2 27 rotate, gear 2 27 driven rod 1 around axle 1 rotate, bar 1 by with bar 2 30 Connection driven rod 3 32 rotation jig 22 rotate, make bar 2 30 inward.Gear 2 27 makes gear 3 34 around axle two 41 rotate, and gear 3 34 driven rod 4 35 rotates around axle 2 41, and bar 4 35 is by the connection driven rod 6 39 with bar 5 37 Rotate around support 22, make bar 5 37 inward.The inward of bar 2 30 and bar 5 37 captures object, when promptly thing During part, stop the rotation of motor 23, carry out next step.

At the end of capturing, then being controlled by controller 21, carry out object transport and placement, step is as follows: by control Device 21 processed controls rotary table 3 and rotates, so that end effector 18 rotates, to adjust the orientation of end effector 18, Arrival desired location stops operating;Control hydraulic cylinder one extension bar 8 opposing hydraulic cylinder one cylinder body 6 by controller 21 to move,

Driving mechanical large arm 10 rotates around rotary table 3, arrives desired location and stops operating;Liquid is controlled by controller 21 Cylinder pressure two extension bar 16 opposing hydraulic cylinder two cylinder body 14 moves, and driving mechanical forearm 12 rotates around machinery large arm 10, arrives Desired location stops mobile;Controlling motor 23 by controller 21 to rotate backward, driven gear 1 rotates;Gear one 25

Driven gear 2 27 rotate, gear 2 27 driven rod 1 around axle 1 rotate, bar 1 by with bar 2 30 Connecting driven rod 3 32 rotation jig 22 to rotate, make bar 2 30 move out, gear 2 27 makes gear 3 34 around axle 2 41 Rotating, gear 3 34 driven rod 4 35 rotates around axle 2 41, bar 4 35 by with the connection driven rod 6 39 of bar 5 37 around Turn support 22 to rotate, make bar 5 37 move out, bar 2 30 and bar 5 37 jointly move out placement object, motor 23 stop operating, repeat above step, just can next time grasping body, carry and place.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent or the improvement etc. made within god and principle, should be included in protection scope of the present invention it In.

Claims (1)

1. a multi-functional carrying device, it is characterised in that: include car body, revolute pair one, rotary table, revolute pair Two, revolute pair three, hydraulic cylinder one cylinder body, moving sets one, hydraulic cylinder one extension bar, revolute pair four, machinery large arm, Revolute pair five, machinery forearm, revolute pair six, hydraulic cylinder two cylinder body, moving sets two, hydraulic cylinder two extension bar, rotation Pair seven, end effector, revolute pair eight, wheel, controller;
Described rotary table is connected by revolute pair one with car body, and rotary table is by revolute pair two with machinery large arm even Connect;Described hydraulic cylinder one cylinder body is connected by revolute pair three with rotary table, and hydraulic cylinder one cylinder body is stretched with hydraulic cylinder one Rod forms moving sets one;Described hydraulic cylinder one extension bar is connected by revolute pair four with machinery large arm;Described machine Tool large arm is connected by revolute pair five with machinery forearm;Described mechanical forearm and hydraulic cylinder two extension bar pass through revolute pair Six connect, and machinery forearm is connected by revolute pair eight with end effector;Described hydraulic cylinder two extension bar and hydraulic cylinder Two cylinder bodies are connected by moving sets two;Described hydraulic cylinder two cylinder body is connected with machinery large arm by revolute pair seven;
Described end effector includes support, motor, two crawl side chains;Described motor is rack-mount, Two crawl side chains are fixed with support and are connected, and capture side chain and include gear one, axle one, gear two, bar one, revolute pair Nine, bar two, revolute pair ten, bar three, revolute pair 11, gear three, bar four, revolute pair 12, bar five, rotation Pair 13, bar six, revolute pair 14, axle two;
Described gear one is arranged on the output shaft of motor, and gear one forms gear with gear two and engages, described axle One, axle two is rack-mount by bearing;Described gear two is arranged on axle one;Described bar one and gear two Fixing connection;Described bar one is connected by revolute pair nine with bar two;Described bar two is with bar three by revolute pair ten even Connect;Described bar three is connected by revolute pair 11 with support;Described gear three is arranged on axle two;Described tooth Wheel three forms gear with gear two and engages;Described bar four is bolted with gear three;Described bar four and bar five Connected by revolute pair 12;Described bar five is crossed revolute pair 13 with bar clematis stem and is connected;Described bar clematis stem crosses rotation Secondary 14 are connected with support;
The job step of described a kind of multi-functional carrying device is as follows: controls wheel by controller and moves, band motor vehicles bodies Move to desired location stop;Control rotary table by controller to rotate, so that end effector rotates, with Adjust the orientation of end effector, arrive desired location and stop operating;Control hydraulic cylinder one by controller to stretch out relatively Hydraulic cylinder one cylinder body moves, and driving mechanical large arm, around revolution base rotation, arrives desired location and stops operating;By control Device processed controls hydraulic cylinder two extension bar opposing hydraulic cylinder two cylinder body and moves, and driving mechanical forearm rotates around machinery large arm, arrives Reach desired location and stop mobile;Controlling motor by controller to rotate forward, driven gear one rotates;Gear one drives Gear two rotates, and gear two driven rod one rotates around axle one, and bar one is by connection driven rod three rotation jig with bar two Rotate, make bar two inward;Gear two makes gear three rotate around axle two around axle two rotation, gear three driven rod four, Bar four around holder pivots, makes bar five inward by the connection driven rod six with bar five;Bar two and the inside fortune of bar five Dynamic crawl object, when promptly object, stops the rotation of motor, carries out next step;
At the end of capturing, then being controlled by controller, carry out object transport and placement, step is as follows: by controlling Device controls rotary table and rotates, so that end effector rotates, to adjust the orientation of end effector, arrives pre- Phase position stops operating;Control hydraulic cylinder one extension bar opposing hydraulic cylinder one cylinder body by controller to move,
Driving mechanical large arm, around revolution base rotation, arrives desired location and stops operating;Hydraulic cylinder is controlled by controller Two extension bar opposing hydraulic cylinder two cylinder bodies move, and driving mechanical forearm rotates around machinery large arm, arrive desired location and stop Mobile;Controlling motor by controller to rotate backward, driven gear one rotates;Gear one driven gear two rotates, tooth Taking turns two driven rods one around axle one rotation, bar one is rotated by connection driven rod three rotation jig with bar two, make bar two to Outer motion, gear two makes gear three rotate around axle two around axle two rotation, gear three driven rod four, bar four by with bar five Connection driven rod six rotation jig rotate, make bar five move out, bar two and bar five jointly move out placement thing Part, motor stalls, repeat above step, perform next time grasping body, carry and place.
CN201610369421.0A 2016-05-24 2016-05-24 Multifunctional carrying device CN105922231A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610369421.0A CN105922231A (en) 2016-05-24 2016-05-24 Multifunctional carrying device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610369421.0A CN105922231A (en) 2016-05-24 2016-05-24 Multifunctional carrying device

Publications (1)

Publication Number Publication Date
CN105922231A true CN105922231A (en) 2016-09-07

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101412216A (en) * 2008-11-20 2009-04-22 中国农业大学 Universal fruit tree manipulator
CN202897528U (en) * 2012-10-24 2013-04-24 北钢联(北京)重工科技有限公司 Stainless steel coiled stock pick device
CN203255725U (en) * 2013-05-27 2013-10-30 珠海格力电器股份有限公司 Board shifting device and PCB production line comprising same
CN203919048U (en) * 2014-04-30 2014-11-05 温家成 Precision instrument conveying robot
KR20150089657A (en) * 2014-01-28 2015-08-05 김웅식 sprinkler of plunger integral
CN103224137B (en) * 2013-04-27 2015-09-23 昆山艾博机器人系统工程有限公司 Automatic multi-station transport device
CN105544443A (en) * 2016-01-29 2016-05-04 巢湖学院 Amphibious garbage picking robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101412216A (en) * 2008-11-20 2009-04-22 中国农业大学 Universal fruit tree manipulator
CN202897528U (en) * 2012-10-24 2013-04-24 北钢联(北京)重工科技有限公司 Stainless steel coiled stock pick device
CN103224137B (en) * 2013-04-27 2015-09-23 昆山艾博机器人系统工程有限公司 Automatic multi-station transport device
CN203255725U (en) * 2013-05-27 2013-10-30 珠海格力电器股份有限公司 Board shifting device and PCB production line comprising same
KR20150089657A (en) * 2014-01-28 2015-08-05 김웅식 sprinkler of plunger integral
CN203919048U (en) * 2014-04-30 2014-11-05 温家成 Precision instrument conveying robot
CN105544443A (en) * 2016-01-29 2016-05-04 巢湖学院 Amphibious garbage picking robot

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Application publication date: 20160907

RJ01 Rejection of invention patent application after publication