CN106625708A - Electric equipment transportation and clamping device capable of doing circular-arc-shaped motion - Google Patents
Electric equipment transportation and clamping device capable of doing circular-arc-shaped motion Download PDFInfo
- Publication number
- CN106625708A CN106625708A CN201611223530.8A CN201611223530A CN106625708A CN 106625708 A CN106625708 A CN 106625708A CN 201611223530 A CN201611223530 A CN 201611223530A CN 106625708 A CN106625708 A CN 106625708A
- Authority
- CN
- China
- Prior art keywords
- gear
- rotating shaft
- lock tube
- clamping device
- equipment
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses an electric equipment transportation and clamping device capable of doing circular-arc-shaped motion. The electric equipment transportation and clamping device comprises a rotation mechanism mounted on a base plate, a support base mounted on the rotation mechanism and a clamping mechanism mounted on the support base. The base plate is mounted on an angle adjustment mechanism. The angle adjustment mechanism comprises three lifting rods movably connected with the bottom of the base plate. The rotation mechanism can drive the clamping mechanism to transport electric equipment in a rotation manner, the base plate can be inclined through the tree lifting rods, the rotation mechanism rotates on the inclined base plate, and the application range of the electric equipment transportation device is broadened.
Description
Technical field
The present invention relates to electrical equipment technical field, and in particular to a kind of conveying arrangement of power equipment.
Background technology
During electric power apparatus examination, transmission and transporting power equipment or maintenance tool, traditional power equipment are needed
Robot for overhauling tends not to carry out transport operation, and the operation of electric power apparatus examination robotic manipulator is by regulation machine mostly
Tool arm, rather than by adjusting the mode of manipulator, limited coverage area is often occurred during the adjustment of mechanical arm, and
And when needing to occur circular arc operation trace, need to adjust the position of whole robot to realize operation, it is very inconvenient, while
Automaticity is very low.
Authorization Notice No. for the U of CN 203875892 utility model disclose it is a kind of can circular movement power equipment
Transport clamping device, is mainly made up of chassis, gear, clamping part, and the gear is located at chassis top, arranges on the chassis
There are pushing meanss, the pushing meanss front end is connected with worm screw, and the worm screw engages with gear, the gear top is provided with folder
Portion's support base is held, stationary gripping part pedestal, the clamping part end and fixed clamp are provided with the clamping part support base
Portion's pedestal is connected.
The content of the invention
Technical problem solved by the invention：How the scope of application of power equipment conveying arrangement is increased.
To solve above-mentioned technical problem, the present invention provides following technical scheme：It is a kind of can circular movement power equipment
Transport clamping device, including the rotating mechanism on chassis, the support base on rotating mechanism, installed in support base
On clamping device；The chassis is arranged on angle adjusting mechanism, and angle adjusting mechanism includes three with tray bottom activity
The elevating lever of connection.
By above-mentioned technical proposal, rotating mechanism can make clamping device transporting power equipment in a rotative pattern, and three lift
The setting of bar, inclines can chassis, and rotating mechanism rotates on inclined chassis, increase the applicable model of power equipment conveying arrangement
Enclose.Specifically, three elevating levers are circumferentially uniformly distributed, and an elevating lever rises, and another two elevating levers decline, and chassis is inclined
Tiltedly, inclined angle is determined by the heave amplitude of three elevating levers.
The bottom on chassis opens up chute, and hinged block is sliding combined with chute, is hinged at the top of hinged block and elevating lever.Directly
The elevating lever of line lifting orders about chassis inclination, while chassis OQ t bar rotates, has linear motion, hinged block concurrently
Provide condition for above-mentioned linear motion with being slidably matched for chute.
The angle adjusting mechanism includes the change being articulated on basal disc, the base plate being fixed on basal disc and top board, pivot joint
First rotating shaft, the second rotating shaft, the second auxiliary rotating shaft on top board, the 3rd rotating shaft, the 3rd auxiliary rotating shaft；First rotating shaft is provided with
First gear, first rotating shaft is hollow, and the first elevating lever in three elevating levers is screwed onto in first rotating shaft；Second rotating shaft is provided with
Second gear, the second rotary shaft hollow, the second elevating lever in three elevating levers is screwed onto in the second rotating shaft, second gear and second
Equipment gear is engaged, and the second equipment gear is arranged in the second auxiliary rotating shaft；3rd rotating shaft is provided with the 3rd gear, the 3rd rotating shaft
Hollow, the 3rd elevating lever in three elevating levers is screwed onto in the 3rd rotating shaft, and the 3rd gear is engaged with the 3rd equipment gear, and the 3rd
Equipment gear is arranged in the 3rd auxiliary rotating shaft；Above-mentioned first gear, second gear, the second equipment gear, the 3rd gear, the 3rd
Equipment gear is located between base plate and top board；Three elevating levers project upwards top board and are flexibly connected with tray bottom；The change
Madial wall be provided with least one section tooth bar, it is above-mentioned first gear, second gear, the second equipment gear, the 3rd gear, the 3rd auxiliary
Gear is helped to be located in change, first gear, the second equipment gear, the close change edge of the 3rd equipment gear, first gear, second
Equipment gear, the core wheel line of the 3rd equipment gear deviate the rotation centerline of change.
By above-mentioned design, only to set one section of tooth bar on change madial wall as a example by, change rotates a circle, respectively with the first tooth
Wheel, the second equipment gear, the 3rd equipment gear are engaged once.Jing after one section of rack drives, first gear is rotated forward, the second assist tooth
Wheel and the 3rd equipment gear drive respectively second gear and the reversion of the 3rd gear.First gear drives first liter by first rotating shaft
Drop bar rises, and second gear drives the second elevating lever to decline by the second rotating shaft, and the 3rd gear drives the 3rd by the 3rd rotating shaft
Elevating lever declines, thus, chassis inclines.
First gear, the second equipment gear, the 3rd equipment gear are along change circumference to being uniformly distributed；On the madial wall of change
It is provided with three sections of tooth bars, three sections of tooth bars are along change circumference to being uniformly distributed.Change rotates, three sections of tooth bars respectively with first gear, the
Two equipment gears, the 3rd equipment gear are engaged simultaneously, improve the inclined efficiency in chassis and stability.
First through hole, the second through hole and third through-hole are opened up on the base plate, activity in first through hole is combined with the first lock
Set, activity in the second through hole is combined with the second lock tube, and activity in third through-hole is combined with the 3rd lock tube；First through hole and the first lock
The first spring is provided between set, second spring is provided between third through-hole and the second lock tube, between third through-hole and the 3rd lock tube
It is provided with the 3rd spring；First lock tube is arranged the bottom of first rotating shaft, and the second lock tube is set in the bottom of the second auxiliary rotating shaft, and the 3rd
Lock tube is set in the bottom of the 3rd auxiliary rotating shaft；First rotating shaft, the second auxiliary rotating shaft, the 3rd aid in the bottom of rotating shaft tapered
Shape；The tapered shape in inner chamber middle part of the first lock tube, the intracavity bottom of the first lock tube is provided with pilot hole, and the side wall of pilot hole is provided with
Guiding projection, on the first lifting bar side wall the gathering sill coordinated with guiding projection is opened up；Second lock tube and the 3rd lock tube
The tapered shape of intracavity bottom；Transverse bar, the end of transverse bar are equipped with first lock tube, the second lock tube, the side wall of the 3rd lock tube
Portion is provided with convex wedge；Release bar is provided with below arbitrary tooth bar, release bar is arranged on the madial wall of change, release bar
Length be equal to arbitrary tooth bar length.
In above-mentioned design, fluted, the first lock tube, second is all provided with first through hole, the second through hole, third through-hole madial wall
Projection is all provided with lock tube, the lateral wall of the 3rd lock tube, groove coordinates with projection, to the first lock tube, the second lock tube, the 3rd lock tube
Guide effect is played in straight line lifting.
By above-mentioned design, so that one section of tooth bar on change madial wall is engaged with first gear as an example, in one section of tooth bar and
Before the engagement of one gear, the release bar of change is contacted first with wedge, and pushes wedge, and wedge drives the first lock tube edge
First through hole declines, and the cone-shaped middle part of the first lock tube inner chamber disengages with the cone-shaped bottom of first rotating shaft, first rotating shaft
No longer braked by the first lock tube；Afterwards, one section of tooth bar is engaged with first gear, and in engagement process, release bar keeps pushing wedge
The state of shape block.When one section of tooth bar departs from first gear after engagement, contact of the synchronous disengaging of release bar with wedge, the
Under the elastic force of one spring, the first lock tube rises reset, and the first lock tube brakes first rotating shaft again.First rotating shaft is locked, and first
Lifting is locked, and then improves the inclined precision and stability in chassis.Above-mentioned second lock tube braking second aids in rotating shaft, the 3rd lock
Set braking the 3rd aids in the operation principle of rotating shaft to be same as the first lock tube braking first rotating shaft.
From unlike the second lock tube and the 3rd lock tube, the first lock tube is additionally provided with pilot hole, the lifting to the first elevating lever
It is oriented to, i.e. the first lock tube has locking and the dual-use function being oriented to concurrently.
The madial wall of the change is provided with gear ring, and gear ring is engaged with the 4th gear, and the 4th gear is arranged on basal disc, the
The gear of one Motor drive the 4th rotates, and the 4th gear is rotated by the driving change of engaging with gear ring.
The worm screw and the second of worm screw connection that the rotating mechanism is engaged including the worm gear being articulated on chassis with worm gear
Motor, the second motor is arranged on chassis.Worm drive worm gear rotates, and worm gear drives support base and the rotation of clamping device thereon
Turn.
The clamping device includes being fixed on the fixed folder portion on support base, the activity folder portion on expansion link, institute
Expansion link is stated on the piston of cylinder or hydraulic cylinder, fixed folder portion opens up through hole, and the expansion link is through the through hole and gas
The piston connection of cylinder or hydraulic cylinder.
Description of the drawings
Below in conjunction with the accompanying drawings the present invention is described further：
Fig. 1 be the present invention it is a kind of can circular movement power equipment transport clamping device structural representation；
Fig. 2 is the structural representation of angle adjusting mechanism 30 in Fig. 1；
Structural representations of the Fig. 3 for top board 34 in Fig. 2 after hiding；
Fig. 4 is enlarged drawing at A in Fig. 3；
Fig. 5 is enlarged drawing at B in Fig. 3；
Fig. 6 is the combining structure schematic diagram of the lock tube 71 of first rotating shaft 41 and first in Fig. 4；
Fig. 7 is the structural representation of the first lock tube 71 in Fig. 6.
Symbol description in figure：
10th, chassis；
20th, support base；
30th, angle adjusting mechanism；31st, basal disc；32nd, change；320th, tooth bar；321st, release bar；33rd, base plate；34th, top board；
41st, first rotating shaft；42nd, the second rotating shaft；420th, the second auxiliary rotating shaft；43rd, the 3rd rotating shaft；430th, the 3rd auxiliary turns
Axle；
51st, first gear；52nd, second gear；520th, the second equipment gear；53rd, the 3rd gear；530th, the 3rd assist tooth
Wheel；
61st, the first elevating lever；610th, gathering sill；62nd, the second elevating lever；63rd, the 3rd elevating lever；
71st, the first lock tube；710th, the inner chamber middle part of the first lock tube cone-shaped；711st, pilot hole；712nd, guiding projection；713、
Transverse bar；714th, wedge；72nd, the second lock tube；73rd, the 3rd lock tube；
81st, worm gear；82nd, worm screw；83rd, the second motor；84th, fixed folder portion；85th, expansion link；86th, activity folder portion.
Specific embodiment
Detailed description below is referring to figs. 1 to Fig. 7.
It is a kind of can circular movement power equipment transport clamping device, including the rotating mechanism on the chassis 10,
Support base 20 on rotating mechanism, the clamping device on support base；The chassis is arranged on angular adjustment machine
On structure 30, angle adjusting mechanism includes three elevating levers being flexibly connected with tray bottom.
The bottom on chassis 10 opens up chute, and hinged block is sliding combined with chute, is hinged at the top of hinged block and elevating lever.
The angle adjusting mechanism 30 includes the change 32 being articulated on basal disc 31, the base plate 33 being fixed on basal disc and top
Plate 34, the first rotating shaft 41 being articulated on top board, the second rotating shaft 42, second aid in rotating shaft 420, the 3rd rotating shaft 43, the 3rd auxiliary
Rotating shaft 430.
First rotating shaft is provided with first gear 51, and first rotating shaft is hollow, and the first elevating lever 61 in three elevating levers is spirally connected
In first rotating shaft.
Second rotating shaft is provided with second gear 52, and the second rotary shaft hollow, the second elevating lever 62 in three elevating levers is spirally connected
In the second rotating shaft, second gear is engaged with the second equipment gear 520, and the second equipment gear is arranged in the second auxiliary rotating shaft.
3rd rotating shaft is provided with the 3rd gear 53, and the 3rd rotary shaft hollow, the 3rd elevating lever 63 in three elevating levers is spirally connected
In the 3rd rotating shaft, the 3rd gear is engaged with the 3rd equipment gear 530, and the 3rd equipment gear is arranged in the 3rd auxiliary rotating shaft.
Above-mentioned first gear, second gear, the second equipment gear, the 3rd gear, the 3rd equipment gear are located at base plate and top
Between plate；Three elevating levers project upwards top board and are flexibly connected with the bottom of chassis 10.
The madial wall of the change is provided with three sections of tooth bars 320, above-mentioned first gear, second gear, the second equipment gear,
3rd gear, the 3rd equipment gear are located in change, first gear, the second equipment gear, the close change side of the 3rd equipment gear
Edge, first gear, the second equipment gear, the core wheel line of the 3rd equipment gear deviate the rotation centerline of change.
First gear 51, the second equipment gear 520, the 3rd equipment gear 530 are along the circumference of change 32 to being uniformly distributed；Three sections
Tooth bar is along change circumference to being uniformly distributed.
First through hole, the second through hole and third through-hole are opened up on the base plate 33, activity in first through hole is combined with first
Lock tube 71, activity in the second through hole is combined with the second lock tube 72, and activity in third through-hole is combined with the 3rd lock tube 73；First through hole
The first spring is provided between the first lock tube, second spring, third through-hole and the 3rd are provided between third through-hole and the second lock tube
The 3rd spring is provided between lock tube.
First lock tube is arranged the bottom of first rotating shaft 41, and the second lock tube is set in the bottom of the second auxiliary rotating shaft 420, and the 3rd
Lock tube is set in the bottom of the 3rd auxiliary rotating shaft 430；First rotating shaft, the second auxiliary rotating shaft, the bottom of the 3rd auxiliary rotating shaft are in
Cone-shaped.
The 710 tapered shapes of inner chamber middle part of the first lock tube, the intracavity bottom of the first lock tube is provided with pilot hole 711, pilot hole
Side wall be provided with guiding projection 712, open up on the side wall of first elevating lever 61 with guiding projection coordinate gathering sill 610；
The tapered shape of intracavity bottom of the second lock tube and the 3rd lock tube.
Transverse bar 713 is equipped with first lock tube, the second lock tube, the side wall of the 3rd lock tube, the end of transverse bar is provided with
Convex wedge 714.
Release bar 321 is provided with below arbitrary tooth bar, release bar is arranged on the madial wall of change 32, the length of release bar
Equal to the length of arbitrary tooth bar.
The madial wall of the change 32 is provided with gear ring, and gear ring is engaged with the 4th gear, and the 4th gear is arranged on basal disc 31
On, the rotation of the gear of the first Motor drive the 4th.
Worm screw 82 and worm screw connection that the rotating mechanism is engaged including the worm gear 81 being articulated on chassis 10 with worm gear
The second motor 83, the second motor be arranged on chassis on.
The clamping device includes the fixed folder portion 84 being fixed on support base 20, the activity folder on expansion link 85
Portion 86.
In practical operation, three elevating levers, the first elevating lever 61 rises, under the second elevating lever 62 and the 3rd elevating lever 63
Drop, or the first elevating lever declines, the second elevating lever and the 3rd elevating lever rise, and can make the skewed at any angle of chassis 10, rotates
Mechanism rotates on inclined chassis 10, clamping device transporting power equipment or electric power tool under the driving of rotating mechanism.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this
Bright restriction.
Claims (8)
1. it is a kind of can circular movement power equipment transport clamping device, including the rotating mechanism on chassis (10),
Support base (20) on rotating mechanism, the clamping device on support base；It is characterized in that：Install on the chassis
On angle adjusting mechanism (30), angle adjusting mechanism includes three elevating levers being flexibly connected with tray bottom.
2. it is as claimed in claim 1 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：Chassis
(10) bottom opens up chute, and hinged block is sliding combined with chute, is hinged at the top of hinged block and elevating lever.
3. it is as claimed in claim 1 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：It is described
Angle adjusting mechanism (30) includes the change (32) being articulated on basal disc (31), the base plate (33) being fixed on basal disc and top board
(34), be articulated in first rotating shaft (41) on top board, the second rotating shaft (42), the second auxiliary rotating shaft (420), the 3rd rotating shaft (43),
3rd auxiliary rotating shaft (430)；
First rotating shaft is provided with first gear (51), and first rotating shaft is hollow, and the first elevating lever (61) in three elevating levers is spirally connected
In first rotating shaft；
Second rotating shaft is provided with second gear (52), and the second rotary shaft hollow, the second elevating lever (62) in three elevating levers is spirally connected
In the second rotating shaft, second gear is engaged with the second equipment gear (520), and the second equipment gear is arranged on the second auxiliary rotating shaft
On；
3rd rotating shaft is provided with the 3rd gear (53), and the 3rd rotary shaft hollow, the 3rd elevating lever (63) in three elevating levers is spirally connected
In the 3rd rotating shaft, the 3rd gear is engaged with the 3rd equipment gear (530), and the 3rd equipment gear is arranged on the 3rd auxiliary rotating shaft
On；
Above-mentioned first gear, second gear, the second equipment gear, the 3rd gear, the 3rd equipment gear be located at base plate and top board it
Between；Three elevating levers project upwards top board and are flexibly connected with chassis (10) bottom；
The madial wall of the change is provided with least one section tooth bar (320), above-mentioned first gear, second gear, the second assist tooth
Wheel, the 3rd gear, the 3rd equipment gear are located in change, first gear, the second equipment gear, the close change of the 3rd equipment gear
Edge, first gear, the second equipment gear, the core wheel line of the 3rd equipment gear deviate the rotation centerline of change.
4. it is as claimed in claim 3 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：First
Gear (51), the second equipment gear (520), the 3rd equipment gear (530) are along change (32) circumference to being uniformly distributed；Change it is interior
Side wall is provided with three sections of tooth bars (320), and three sections of tooth bars are along change circumference to being uniformly distributed.
5. it is as claimed in claim 3 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：It is described
First through hole, the second through hole and third through-hole are opened up on base plate (33), activity in first through hole is combined with the first lock tube (71), the
Activity in two through holes is combined with the second lock tube (72), and activity in third through-hole is combined with the 3rd lock tube (73)；First through hole and the
The first spring is provided between one lock tube, second spring, third through-hole and the 3rd lock tube are provided between third through-hole and the second lock tube
Between be provided with the 3rd spring；
First lock tube is arranged the bottom of first rotating shaft (41), and the second lock tube is set in the bottom of the second auxiliary rotating shaft (420), and the 3rd
Lock tube is set in the bottom of the 3rd auxiliary rotating shaft (430)；First rotating shaft, the second auxiliary rotating shaft, the 3rd aid in the bottom of rotating shaft equal
Tapered shape；
The tapered shape of inner chamber middle part (710) of the first lock tube, the intracavity bottom of the first lock tube is provided with pilot hole (711), pilot hole
Side wall be provided with guiding projection (712), open up on the wall of the first elevating lever (61) side with guiding projection coordinate gathering sill
(610)；The tapered shape of intracavity bottom of the second lock tube and the 3rd lock tube；
Transverse bar (713) is equipped with first lock tube, the second lock tube, the side wall of the 3rd lock tube, the end of transverse bar is provided with convex
Wedge (714)；
Release bar (321) is provided with below arbitrary tooth bar, release bar is arranged on the madial wall of change (32), the length of release bar
Equal to the length of arbitrary tooth bar.
6. it is as claimed in claim 3 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：It is described
The madial wall of change (32) is provided with gear ring, and gear ring is engaged with the 4th gear, and the 4th gear is arranged on basal disc (31), and first is electric
Machine drives the rotation of the 4th gear.
7. it is as claimed in claim 1 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：It is described
The worm screw (82) and the second of worm screw connection that rotating mechanism is engaged including the worm gear (81) being articulated on chassis (10) with worm gear
Motor (83), the second motor is arranged on chassis.
8. it is as claimed in claim 1 it is a kind of can circular movement power equipment transport clamping device, it is characterised in that：It is described
Clamping device includes being fixed on the fixed folder portion (84) on support base (20), the activity folder portion on expansion link (85)
(86)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611223530.8A CN106625708B (en) | 2016-12-27 | 2016-12-27 | It is a kind of can circular movement power equipment transport clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611223530.8A CN106625708B (en) | 2016-12-27 | 2016-12-27 | It is a kind of can circular movement power equipment transport clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625708A true CN106625708A (en) | 2017-05-10 |
| CN106625708B CN106625708B (en) | 2018-10-30 |
Family
ID=58832846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611223530.8A Expired - Fee Related CN106625708B (en) | 2016-12-27 | 2016-12-27 | It is a kind of can circular movement power equipment transport clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625708B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106988233A (en) * | 2017-05-28 | 2017-07-28 | 吴淑霞 | A kind of automatic draw-out device of bridge pad |
| CN107697348A (en) * | 2017-11-17 | 2018-02-16 | 郑州航空工业管理学院 | Intelligent logistics sorting system based on Internet of Things |
| CN108455176A (en) * | 2018-01-17 | 2018-08-28 | 卡斯纳（苏州）医疗设备有限公司 | A kind of circulating conveyor of automatic dispensary |
| CN112489244A (en) * | 2020-12-10 | 2021-03-12 | 河南威斯盾电子科技有限公司 | Online real-time inspection mobile device |
| CN113654923A (en) * | 2021-06-29 | 2021-11-16 | 湖南科技大学 | Temperature-variable and angle-variable impact test control method |
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| CN203717158U (en) * | 2014-01-29 | 2014-07-16 | 华北电力大学（保定） | Adiabatic compression air storage power generation system |
| CN203875892U (en) * | 2014-05-08 | 2014-10-15 | 国家电网公司 | Electrical equipment transporting and clamping device capable of doing arc motion |
| CN104626189A (en) * | 2014-12-15 | 2015-05-20 | 深圳华强智能技术有限公司 | Entertainment robot sphere three-freedom-degree parallel mechanism |
| US20150258682A1 (en) * | 2014-03-13 | 2015-09-17 | Brain Corporation | Trainable modular robotic apparatus and methods |
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| EP0222915A1 (en) * | 1985-04-27 | 1987-05-27 | Fanuc Ltd. | Industrial robot |
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| DE102009042014A1 (en) * | 2009-09-21 | 2011-03-24 | Dürr Systems GmbH | Handling device for moving e.g. scanner for handling articles, has manipulator accommodated at carrier structure of parallel geometry unit, where powered movement axes are provided for displacing carrier structure relative to base |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106988233A (en) * | 2017-05-28 | 2017-07-28 | 吴淑霞 | A kind of automatic draw-out device of bridge pad |
| CN106988233B (en) * | 2017-05-28 | 2019-04-26 | 湖南常德路桥建设集团有限公司 | A kind of automatic draw-out device of bridge pad |
| CN107697348A (en) * | 2017-11-17 | 2018-02-16 | 郑州航空工业管理学院 | Intelligent logistics sorting system based on Internet of Things |
| CN108455176A (en) * | 2018-01-17 | 2018-08-28 | 卡斯纳（苏州）医疗设备有限公司 | A kind of circulating conveyor of automatic dispensary |
| CN112489244A (en) * | 2020-12-10 | 2021-03-12 | 河南威斯盾电子科技有限公司 | Online real-time inspection mobile device |
| CN113654923A (en) * | 2021-06-29 | 2021-11-16 | 湖南科技大学 | Temperature-variable and angle-variable impact test control method |
| CN113654923B (en) * | 2021-06-29 | 2024-04-09 | 湖南科技大学 | Impact test control method for changing temperature and angle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625708B (en) | 2018-10-30 |
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