CN106015497A - Location operating mechanism for closed space - Google Patents
Location operating mechanism for closed space Download PDFInfo
- Publication number
- CN106015497A CN106015497A CN201610317416.5A CN201610317416A CN106015497A CN 106015497 A CN106015497 A CN 106015497A CN 201610317416 A CN201610317416 A CN 201610317416A CN 106015497 A CN106015497 A CN 106015497A
- Authority
- CN
- China
- Prior art keywords
- driven pulley
- disk
- motor
- gear
- leading screw
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/065—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with a plurality of driving or driven shafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a location operating mechanism for a closed space, belongs to the technical field of electromechanical and automatic measurements, and particularly relates to a location operating mechanism for a closed space, which can be applied to a wind tunnel movement measuring machine and can be used for automatically measuring data. The location operating mechanism for the closed space is characterized in that all control mechanisms of the location operating mechanism are arranged outside the closed space; and only a screw rod is situated inside the closed space. In comparison with the prior art, the location operating mechanism for the closed space is not only portable in structure and quick in response, but also all the control mechanisms are placed outside the closed spaced, so that the interference to a closed space environment is furthest decreased. The location operation mechanism for the closed space is an ideal location operation mechanism for the closed space, which can be widely applied to a wind tunnel, a boiler and the like and can be used for automatically measuring the data.
Description
Technical field
One confined space position manipulator mechanism of the present invention, belongs to dynamo-electric and automatic measurement technical field, is specifically related to
A kind of being applicable on wind-tunnel, boiler etc. can the technical scheme of a kind of confined space position manipulator mechanism of automatic measured data.
Background technology
Some working place is confined space, such as wind-tunnel, and boiler etc. operates in confined space, usual technology be by
Motion is placed in inside confined space, but does not so occupy the limited bulk in confined space, and to confined space
Interior environmental effects.This is accomplished by a kind of simple in construction, reacts quick confined space position manipulator mechanism, it is desirable to this is fixed
Volume shared by bit manipulation mechanism is little, little to confined space environmental effect.
There are 3 rotary joints in SCARA robot, and its axis is parallel to each other, and planar positions and orients.Another
Joint is linear joint, has been used for end piece and has been perpendicular to the motion of plane.The position of wrist reference point is to be rotated by two to close
The angular displacement of joint, and the displacement decision of linear joint.The portable construction of this kind of robot, response are soon.It is best suited for plane
Location, vertical direction carries out the operation assembled.
Summary of the invention
One confined space position manipulator mechanism of the present invention, it is therefore intended that in order to overcome what above-mentioned prior art existed to ask
Topic, thus open a kind of energy three-dimensional freedom moves, and greatly reduce the volume of position manipulator mechanism, it is right largely to reduce
The technical scheme of the confined space position manipulator mechanism of the impact of confined space environment.
One confined space position manipulator mechanism of the present invention, it is characterised in that be that a kind of all of drive mechanism is all airtight
The leading screw 17 of outside, only positioning probe, inside confined space, can install various measuring probe in leading screw 17 lower end
Confined space position manipulator mechanism, this confined space position manipulator mechanism mainly includes base plate the 15, first disc assembly, the second circle
Dish assembly, steering mechanism, telescoping mechanism, leading screw 17 and probe 19；First disc assembly is by first electric machine support the 1, first disk
Driving gear the 2, first motor 3 and the first disk driven pulley 4 form；Second disc assembly is by second electric machine support the 5, second disk
Driving gear the 6, second motor 7 and the second disc set driven pulley 8 form；Steering mechanism by steer motor support 18, turn to actively
Gear 16, steer motor 12 and turn to driven pulley 14 to form；Telescoping mechanism by telescope motor support 9, flexible driving gear 10, stretch
Contracting motor 11 and gear nut 13 form；Described first disk driven pulley the 4, second disc set driven pulley 8 and turn to driven pulley 14
It is all gear ring and circular mounting plate matches and constitutes；Described leading screw 17 is milling in the axial direction on the face of cylinder of original leading screw
Two plane machinings form；Described first disk driven pulley 4 embeds in the circular hole of the base plate 15 matched with its periphery, and can be around
The centrage in hole rotates；The lower surface of the first disk driven pulley 4 is concordant with the lower surface of base plate 15, and upper surface is gear ring, gear ring
Lower surface be bearing on base plate 15, contact and seal inside and outside；First motor 3 is arranged on the first electric machine support 1, the first electricity
Machine support 1 is fixed on base plate 15, and the first disk driving gear 2 is arranged on the first motor 3 axle；Second motor 7 is arranged on
On two electric machine supports 5, the second electric machine support 5 is fixed on the first disk driven pulley 4, and the second disk driving gear 6 is arranged on
On two motor 7 axles；Second disk driven pulley 8 embeds in the first disk driven pulley 4 circular hole, and can rotate by the centrage around hole, its
Lower surface and the first disk driven pulley 4 surface contact and seal inside and outside；Steer motor 12 is arranged on steer motor support 18
On, steer motor support 18 is fixed on the second disk driven pulley 8, and diversion driving-gear 16 is arranged on steer motor 12 axle；
Turn to driven pulley 14 to embed in the second disk driven pulley 8 circular hole, and can rotate by the centrage around hole, its lower surface and the second disk
Driven pulley 8 surface contacts and seals inside and outside, and leading screw 17 is through turning to driven pulley 14 center identical with screw mandrel 17 cross sectional shape
Hole, thus turn to driven pulley 14 rotational band movable wire thick stick 17 to rotate；Telescope motor 11 is arranged on telescope motor support 9, flexible
Electric machine support 9 is fixed on the second disk driven pulley 8, and flexible driving gear 10 is arranged on telescope motor 11 axle, gear nut
13 are arranged on leading screw 17, and gear nut 13 outer rim is processed into gear and engages with flexible driving gear 10, its rotational band movable wire thick stick
17 liftings, the outer fringe surface of bearing 20 coordinates with turning to driven pulley 14 concave surface, and its inner rim surface is outer with gear nut 13 recessed
Surface engagement, bearing 20 matches with fixed mount 21 and makes gear nut 13 axially position；
The radius of described first disk driven pulley 4 is the twice of the second disk driven pulley 8 radius, the circle of the second disk driven pulley 8
The heart is to the radius that distance is the second disk driven pulley 8 of leading screw 17, and such design makes leading screw 17 can navigate in cylindrical space
Any point and unspecified angle；Described first motor 3 drives the first disk driven pulley by driving the first disk driving gear 2
4 rotate；Second motor 7 drives the second disk driven pulley 8 to rotate by driving the second disk driving gear 6；Steer motor 12
Turning to driven pulley 14 to rotate by driving diversion driving-gear 16 to drive, drive leading screw 17 to turn to, telescope motor 11 is by driving
Dynamic flexible driving gear 10 drives gear nut 13 to rotate, and drives leading screw 17 to lift.
Above-mentioned first disk driven pulley (4), the second disk driven pulley (8) and turn to driven pulley (14) achieve motion and seal
Close space, bar can be reduced to when being drive member analysis, be again space wall.
One confined space position manipulator mechanism of the present invention, its advantage and advantage be:
(1) circular driven pulley achieves motion and encloses space, be driving member (bar can be reduced to during motion analysis) and
Space wall.
(2) probe being installed on leading screw lower end can be navigated to any point in cylindrical space and unspecified angle by the present invention.
(3) most mechanisms of the present invention are outside confined space, within only leading screw is positioned at confined space.
Accompanying drawing explanation
Fig. 1 is the schematic diagram 1 of confined space position manipulator mechanism
Fig. 2 is the schematic diagram 2 of confined space position manipulator mechanism
Figure is numbered: 1. the first electric machine support 2. first disk driving gear 3. first motor 4. first disk driven pulley 5.
Two electric machine support 6. second disk driving gear 7. second motor 8. second disc set driven pulley 9. steer motor supports 10. turn to
Driving gear 11. steer motor 12. telescope motor 13. gear nut 14. turns to driven pulley 15. base plate 16. to stretch driving gear
17. leading screw 18. telescope motor supports 19. are popped one's head in 20. bearing 21. fixed mounts.
Detailed description of the invention
For making the goal of the invention of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the present invention is existed
The embodiment of the use in test chamber is described in further detail.
The device driving probe to move and position in test chamber is called shifting survey machine.Moving survey machine is test chamber
In important mechanism.In wind tunnel test, by controlling probe movement in test section, can be distributed with measuring speed, pulse
Pressure and turbulivity etc..The present invention applies in test chamber, energy Three Degree Of Freedom mobile probe, measurement data, and greatly
Reduce the volume of movable measuring device, reduce the impact on Flow Field in Wind Tunnel largely.
Referring to shown in front accompanying drawing, confined space position manipulator mechanism mainly includes base plate 15, the first disc assembly,
Two disc assemblies, steering mechanism, telescoping mechanism, leading screw 17, probe 19；First disc assembly includes the first electric machine support 1, first
Disk driving gear the 2, first motor the 3, first disk driven pulley 4；Second disc assembly includes second electric machine support the 5, second circle
Dish driving gear the 6, second motor the 7, second disc set driven pulley 8；Steering mechanism includes steer motor support 18, turns to driving tooth
Wheel 16, steer motor 12, turn to driven pulley 14；Telescoping mechanism includes telescope motor support 9, flexible driving gear 10, flexible electricity
Machine 11, gear nut 13；It is characterized in that:
Described driven pulley 4,8,14 is all gear ring and installing plate matches and constitutes.
Described leading screw 17 need to be through special processing, it is simply that on the face of cylinder of original leading screw, milling two is put down in the axial direction
Face.
Described first disk driven pulley 4 embeds in the circular hole of the base plate 15 matched with its periphery, and can be around the center in hole
Line rotates.The lower surface of the first disk driven pulley 4 is concordant with the lower surface of base plate 15, and upper surface is gear ring, the lower surface of gear ring
It is bearing on base plate 15, contacts and seal inside and outside.First motor 3 is arranged on the first electric machine support 1, the first electric machine support 1
Being fixed on base plate 15, the first disk driving gear 2 is arranged on the first motor 3 axle；Second motor 7 is arranged on the second motor and props up
On frame 5, the second electric machine support 5 is fixed on the first disk driven pulley 4, and the second disk driving gear 6 is arranged on the second motor 7 axle
On.Second disk driven pulley 8 embeds in the first disk driven pulley 4 circular hole, and can centrage around hole rotate, its lower surface and the
One disk driven pulley 4 surface contacts and seals inside and outside；Steer motor 12 is arranged on steer motor support 18, steer motor
Support 18 is fixed on the second disk driven pulley 8, and diversion driving-gear 16 is arranged on steer motor 12 axle.Turn to driven pulley 14
Embed in the second disk driven pulley 8 circular hole, and can rotate by the centrage around hole, its lower surface and the second disk driven pulley 8 surface
Contact and seal inside and outside.Leading screw 17 embeds and turns in driven pulley 14, thus turns to 17 turns of driven pulley 14 rotational band movable wire thick stick
Dynamic；Telescope motor 11 is arranged on telescope motor support 9, and telescope motor support 9 is fixed on the second disk driven pulley 8, flexible
Driving gear 10 is arranged on telescope motor 11 axle, and gear nut 13 is arranged on leading screw 17.Gear nut 13 center is machined with
Screw thread, matches with leading screw 17, and its rotational band movable wire thick stick 17 lifts.The outer fringe surface of bearing 20 with turn to driven pulley 14 indent table
Face coordinates, and its inner rim surface coordinates with gear nut 13 outer concave surface.Bearing 20 matches with fixed mount 21 and makes gear nut 13
Axially location；；
The radius of described first disk driven pulley 4 is the twice of the second disk driven pulley 8 radius, the circle of the second disk driven pulley 8
The heart to the radius that distance is the second disk driven pulley 8 of leading screw 17, make leading screw 17 can navigate to any point in cylindrical space and
Unspecified angle.
Described motor includes first motor the 3, second motor 7, steer motor 12, telescope motor 11；First motor 3 is by driving
Dynamic first disk driving gear 2 drives the first disk driven pulley 4 to rotate.Second motor 7 is by driving the second disk driving tooth
Wheel 6 drives the second disk driven pulley 8 to rotate.Steer motor 12 turns to driven pulley by driving diversion driving-gear 16 to drive
14 rotate, thus drive leading screw 17 to turn to, and telescope motor 11 drives gear nut 13 to revolve by driving flexible driving gear 10
Turn, thus drive leading screw 17 to lift.
Position manipulator mechanism is similar to SCARA robot.The large arm of the first disk driven pulley 4 similar machine people, the second disk
The joint rotation of the forearm of driven pulley 8 similar machine people, large arm and forearm realizes the end two-dimensional localization in plane of leading screw 17.
The wrist of steering mechanism similar machine people, it drives leading screw 17 to turn to, thus realizes the angle location of leading screw 17.Telescoping mechanism class
Like the linear joint of robot, it drives the lifting of leading screw 17, thus realizes the location of leading screw 17 vertical direction.
Position manipulator mechanism carries out various pose adjustment and measures the opening of probe 19 of wind speed on leading screw 17 to ensure to be arranged on
The direction that mouth always comes towards wind.
Claims (2)
1. a confined space position manipulator mechanism, it is characterised in that be that a kind of all of drive mechanism is all outside confined space
The leading screw (17) in portion, only positioning probe, inside confined space, can install the close of various measuring probe in leading screw (17) lower end
Closing space orientation operating mechanism, this confined space position manipulator mechanism mainly includes base plate (15), the first disc assembly, the second circle
Dish assembly, steering mechanism, telescoping mechanism, leading screw (17) and probe (19)；First disc assembly by the first electric machine support (1),
One disk driving gear (2), the first motor (3) and the first disk driven pulley (4) composition；Second disc assembly is propped up by the second motor
Frame (5), the second disk driving gear (6), the second motor (7) and the second disc set driven pulley (8) composition；Steering mechanism is by turning to
Electric machine support (18), diversion driving-gear (16), steer motor (12) and turn to driven pulley (14) to form；Telescoping mechanism is by stretching
Electric machine support (9), flexible driving gear (10), telescope motor (11) and gear nut (13) composition；Described first disk is driven
Wheel (4), the second disc set driven pulley (8) and turn to driven pulley (14) to be all gear ring and circular mounting plate matches and constitutes；Institute
Stating leading screw (17) is that two plane machinings of milling form in the axial direction on the face of cylinder of original leading screw；Described first disk is driven
Wheel (4) embeds in the circular hole of the base plate (15) matched with its periphery, and can rotate by the centrage around hole；First disk driven pulley
(4) lower surface is concordant with the lower surface of base plate (15), and upper surface is gear ring, and the lower surface of gear ring is bearing on base plate (15),
Contact and seal inside and outside；First motor (3) is arranged on the first electric machine support (1), and the first electric machine support (1) is fixed on base plate
(15), on, the first disk driving gear (2) is arranged on the first motor (3) axle；Second motor (7) is arranged on the second electric machine support
(5), on, the second electric machine support (5) is fixed on the first disk driven pulley (4), and the second disk driving gear (6) is arranged on second
On motor (7) axle；Second disk driven pulley 8 embeds in the first disk driven pulley (4) circular hole, and can rotate by the centrage around hole,
Its lower surface and the first disk driven pulley (4) surface contact and seal inside and outside；Steer motor (12) is arranged on steer motor
On support (18), steer motor support (18) is fixed on the second disk driven pulley (8), and diversion driving-gear (16) is arranged on and turns
On motor (12) axle；Turn to driven pulley (14) to embed in the second disk driven pulley (8) circular hole, and can turn around the centrage in hole
Dynamic, its lower surface and the second disk driven pulley (8) surface contact and seal inside and outside, and leading screw (17) is through turning to driven pulley
(14) hole that center is identical with screw mandrel (17) cross sectional shape, thus turn to driven pulley (14) rotational band movable wire thick stick (17) to rotate；Stretch
Contracting motor (11) is arranged on telescope motor support (9), and telescope motor support (9) is fixed on the second disk driven pulley (8), stretches
Contracting driving gear (10) is arranged on telescope motor (11) axle, and gear nut (13) is arranged on leading screw 17, gear nut (13)
Outer rim is processed into gear and engages with flexible driving gear (10), and its rotational band movable wire thick stick (17) lifts, the outer rim table of bearing (20)
Face coordinates with turning to driven pulley (14) concave surface, and its inner rim surface coordinates with gear nut (13) outer concave surface, bearing (20)
Matching with fixed mount (21) makes gear nut (13) axially position；The radius of described first disk driven pulley (4) is the second circle
The twice of dish driven pulley (8) radius, the distance in the center of circle of the second disk driven pulley (8) to leading screw (17) is the second disk driven pulley
(8) radius, such design makes leading screw (17) can navigate to any point in cylindrical space and unspecified angle；Described first electricity
Machine (3) drives the first disk driven pulley (4) to rotate by driving the first disk driving gear (2)；Second motor (7) is by driving
Dynamic second disk driving gear (6) drives the second disk driven pulley (8) to rotate；Steer motor (12) is turned to actively by driving
Gear (16) drives and turns to driven pulley (14) to rotate, and drives leading screw (17) to turn to, and telescope motor (11) is flexible main by driving
Moving gear (10) drives gear nut (13) to rotate, and drives leading screw (17) lifting.
A kind of confined space position manipulator mechanism the most according to claim 1, it is characterised in that described first disk is driven
Take turns (4), the second disk driven pulley (8) and turn to driven pulley (14) achieve motion and enclose space, being drive member
Bar can be reduced to during analysis, be again space wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317416.5A CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317416.5A CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106015497A true CN106015497A (en) | 2016-10-12 |
| CN106015497B CN106015497B (en) | 2017-11-14 |
Family
ID=57100720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610317416.5A Expired - Fee Related CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106015497B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534980A (en) * | 2018-06-27 | 2018-09-14 | 郑州大学 | A kind of Cooling Towers tower Pressures disturbing effect testing equipment and its application method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3817403A (en) * | 1972-05-10 | 1974-06-18 | Commissariat Energie Atomique | Remote manipulator |
| JPH01301090A (en) * | 1988-05-25 | 1989-12-05 | Matsushita Electric Ind Co Ltd | Industrial robot operation range limiter |
| JPH02232192A (en) * | 1989-03-02 | 1990-09-14 | Fanuc Ltd | Joint structure of industrial robot |
| CN102326244A (en) * | 2009-01-11 | 2012-01-18 | 应用材料公司 | Be used for making arm-and-hand system, the device and method of transmission base plate at electronic device |
| CN103430296A (en) * | 2010-09-15 | 2013-12-04 | 应用材料公司 | Low profile dual arm vacuum robot |
| CN105397802A (en) * | 2015-11-30 | 2016-03-16 | 梅江平 | Four-degree-of-freedom coaxial outputting mechanism |
-
2016
- 2016-05-16 CN CN201610317416.5A patent/CN106015497B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3817403A (en) * | 1972-05-10 | 1974-06-18 | Commissariat Energie Atomique | Remote manipulator |
| JPH01301090A (en) * | 1988-05-25 | 1989-12-05 | Matsushita Electric Ind Co Ltd | Industrial robot operation range limiter |
| JPH02232192A (en) * | 1989-03-02 | 1990-09-14 | Fanuc Ltd | Joint structure of industrial robot |
| CN102326244A (en) * | 2009-01-11 | 2012-01-18 | 应用材料公司 | Be used for making arm-and-hand system, the device and method of transmission base plate at electronic device |
| CN103430296A (en) * | 2010-09-15 | 2013-12-04 | 应用材料公司 | Low profile dual arm vacuum robot |
| CN105397802A (en) * | 2015-11-30 | 2016-03-16 | 梅江平 | Four-degree-of-freedom coaxial outputting mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534980A (en) * | 2018-06-27 | 2018-09-14 | 郑州大学 | A kind of Cooling Towers tower Pressures disturbing effect testing equipment and its application method |
| CN108534980B (en) * | 2018-06-27 | 2023-05-16 | 郑州大学 | Cooling tower group tower surface wind pressure interference effect test equipment and application method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106015497B (en) | 2017-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102275168B (en) | Arm component for robots and robot | |
| CN103419195B (en) | There is the industrial robot of the driver extended in the basic housing of hand | |
| CN206623089U (en) | A kind of Three Degree Of Freedom submarine mechanical arm | |
| CN103101049B (en) | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain | |
| US20040149064A1 (en) | Articulated robot | |
| CN109940658A (en) | A kind of mechanical wrist of built-in spherical joint | |
| KR20150090834A (en) | Industrial robot | |
| CN104723332B (en) | A kind of direct-drive type may be reversed wafer transfer robot | |
| CN106182080B (en) | It is a kind of can all-direction rotation rotary extension type mechanical arm | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| US20150135880A1 (en) | Sealed robot base system | |
| CN102672714B (en) | High-rigidity high-precision five-coordinate parallel power head | |
| US4030615A (en) | Manipulator for movement of articles in a controlled environment chamber, especially a high vacuum chamber | |
| CN107520859A (en) | High precision position and posture positioning mechanical arm | |
| CN102601795B (en) | Power head capable of realizing five-shaft linkage operation | |
| CN106015497A (en) | Location operating mechanism for closed space | |
| CN105841649A (en) | Oscillating joint using built-in volute spiral spring for realizing gravity balancing | |
| CN209504117U (en) | Compact industrial robot | |
| CN106041997B (en) | It is a kind of can all-direction rotation concertina type mechanical arm | |
| CN207155815U (en) | Abnormal curved surface boring and riveting machine device people | |
| CN104723345B (en) | A kind of turning connector assembly being applied to wafer transfer robot | |
| CN106041878A (en) | All-terrain robot universal walking mechanism | |
| US20200319224A1 (en) | Encoder, motor, and robot | |
| WO2015136648A1 (en) | Parallel link mechanism, robot and assembly device | |
| CN107662202A (en) | The six-joint robot and its assemble method of a kind of gear transmission structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181205 Address after: 030032 No. 1 South Factory Building of Nanwangming Village, Xiwenzhuang Township, Xiaodian District, Taiyuan City, Shanxi Province Patentee after: Taiyuan Huanyu Hydraulic Machinery Co.,Ltd. Address before: 030024 79 Yingze West Street, wanBerlin District, Taiyuan, Shanxi Patentee before: Taiyuan University of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 Termination date: 20190516 |