CN108032293A - A kind of afforestation robot - Google Patents
A kind of afforestation robot Download PDFInfo
- Publication number
- CN108032293A CN108032293A CN201711243501.2A CN201711243501A CN108032293A CN 108032293 A CN108032293 A CN 108032293A CN 201711243501 A CN201711243501 A CN 201711243501A CN 108032293 A CN108032293 A CN 108032293A
- Authority
- CN
- China
- Prior art keywords
- gear
- rotation axis
- rack
- shaft
- rocking bar
- 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.)
- Pending
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of afforestation robot, including rack, in the rack the first rotation axis is equipped with direction successively from front to back along same level, second rotation axis, 3rd rotation axis, 4th rotation axis, first rotation axis, the side of second rotation axis is connected with first walking mechanism, opposite side is connected with the second walking mechanism, 3rd rotation axis, the side of 4th rotation axis is connected with the third line and walks mechanism, opposite side is connected with fourth line and walks mechanism, the first walking mechanism includes being vertically connected at first crank of first rotation axis one end, it is vertically connected at second crank of second rotation axis one end, first crank, second crank is isometric and parallel, the other end of first crank and the second crank is connected by first connecting rod.The robot of the present invention can realize walking function by the output of single motor, reasonable in design；Robot device movement variation, can meet several work demand.
Description
Technical field
The present invention relates to robotic technology field, particularly relates to a kind of afforestation robot.
Background technology
The walking mechanism complex structural designs of the prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into
This height；In addition manipulator flexibility is inadequate, and structure design is unreasonable, it is difficult to adapts to job task.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of afforestation robot, to solve to walk in the prior art
Mechanism structure design is complicated could to drive robot to advance, it is necessary to which multiple motors coordinate, of high cost；In addition manipulator flexibility is not
Enough, structure design is unreasonable, it is difficult to adapts to the technical problem of job task.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of afforestation robot, including rack, it is described
In rack the first rotation axis, the second rotation axis, the 3rd rotation axis, the are equipped with direction successively from front to back along same level
Four rotation axis, first rotation axis, the side of the second rotation axis are connected with first walking mechanism, and opposite side is connected with the second row
Mechanism is walked, the 3rd rotation axis, the side of the 4th rotation axis are connected with the third line and walk mechanism, and opposite side is connected with fourth line and walks
Mechanism, the first walking mechanism include being vertically connected at first crank of first rotation axis one end, are vertically connected at second turn
Second crank of moving axis one end, first crank, the second crank are isometric and parallel, first crank and the second crank it is another
One end is connected by first connecting rod, and the both ends of the first connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, the preceding rocking bar
Isometric with rear rocking bar and be arranged in parallel, the preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, and described second connects
Bar is located above first connecting rod, and the preceding rocking bar is connected with branch vertically downward close to rack front end, the middle part of the second connecting rod
Strut, is connected with landing part at the supporting rod lower end, and the structure of first, second, third, fourth walking mechanism is identical,
It is connected in the middle part of preceding rocking bar in the first walking mechanism by the first guide rod at rack front end, in second walking mechanism
Preceding rocking bar in the middle part of be connected to by the second guide rod at rack front end, described the third line is walked in the middle part of rear rocking bar in mechanism by the
Three guide rods are connected to rack rear end, after the rear rocking bar middle part that the fourth line is walked in mechanism is connected to rack by the 4th guide rod
At end, the central rack is equipped with movable motor, and the output terminal of the movable motor is connected to second, third by belt wheel transmission
Rotation axis, second rotation axis are connected to the first rotation axis by belt wheel transmission, and the 3rd rotation axis passes through belt wheel transmission
It is connected to the 4th rotation axis；
Transfer device is additionally provided with the rack, the transfer device includes hydraulic telescopic rod, fixing base, base, bearing
Seat, connecting shaft, transhipment motor, contiguous block, clamping jaw and clamping pull rod, the floor installation is above rack, the hydraulically extensible
Bar is vertically mounted on base, and the upper end is equipped with fixing base, and the bearing seat is on rear side of fixing base upper end, the transhipment motor
On front side of the fixing base upper end, the connecting shaft is horizontally arranged on bearing block, and its one end is connected with transhipment motor, the other end and
Contiguous block connects, and the contiguous block, which is equipped with, clamps pull rod, and the clamping pull rod is connected with clamping jaw, and the clamping jaw is symmetrical arc
Shape plate.
The rack front end is equipped with robot device, and the robot device includes the shaft installation being fixed in rack
, rotated successively from outside to inside in the shaft mounting base and be socketed with first rotating shaft, the second shaft, the 3rd shaft, described first
The front end of shaft is equipped with runing rest, and the both ends of the runing rest are rotatably connected to first gear and second gear respectively, institute
It is parallel with second gear and be oppositely arranged to state first gear, the front end of second shaft is fixedly connected with the 3rd gear, described
3rd gear and the perpendicular setting of first gear and engaged transmission, the first gear is identical with the 3rd gear shape, and described the
The front end of three shafts is fixedly connected with the 4th gear, the 4th gear and the perpendicular setting of second gear and engaged transmission, institute
The bottom for stating first gear is connected with manipulator rotary shaft rack, and the 4th shaft is rotatably connected on the manipulator rotary shaft rack,
The medial extremity of 4th shaft is equipped with the 5th gear, and outboard end is equipped with manipulator, and the 5th gear mutually hangs down with second gear
Straight to set and engaged transmission, the second gear, the 4th gear, the 5th gear shape are identical, the first rotating shaft, second turn
Axis, the rear end of the 3rd shaft are respectively equipped with a travelling gear, and each travelling gear engages a driving rack, each biography
Carry-over bar is driven by a cylinder so that the driving rack moves along a straight line back and forth.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, robot of the invention can realize walking function, structure design by the output of single motor
Rationally；Robot device movement variation, can meet several work demand.
Brief description of the drawings
Fig. 1 is the state diagram one of the walking mechanism of the present invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the part-structure figure one of the walking mechanism of the present invention.
Fig. 4 is the part-structure figure two of the walking mechanism of the present invention.
Fig. 5 is the state diagram two of the walking mechanism of the present invention.
Fig. 6 is the state diagram three of the walking mechanism of the present invention.
Fig. 7 is the movement locus figure of the walking mechanism of the present invention.
Fig. 8 is the robot device of the present invention and the installation diagram of transfer device.
Fig. 9 is the structure chart of the robot device of the present invention.
Figure 10 is the Structure explosion diagram of the robot device of the present invention.
Figure 11 is the structure chart of the transfer device of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of afforestation robot, including rack 100, the machine
On frame 100 the first rotation axis 31, the rotation of the second rotation axis the 32, the 3rd are equipped with direction successively from front to back along same level
Axis 33, the 4th rotation axis 34, first rotation axis 31, the side of the second rotation axis 32 are connected with first walking mechanism 35, separately
Side is connected with the second walking mechanism 36, and the 3rd rotation axis 33, the side of the 4th rotation axis 34 are connected with the third line and walk machine
Structure 37, opposite side are connected with fourth line and walk mechanism 38, and the first walking mechanism 35 includes being vertically connected at the first rotation axis 31
First crank 41 of one end, the second crank 42 for being vertically connected at 32 one end of the second rotation axis, first crank 41, second are bent
Handle 42 is isometric and parallel, and first crank 41 is connected with the other end of the second crank 42 by first connecting rod 43, and described first
The both ends of connecting rod 43 are also rotatably connected to preceding rocking bar 44 and rear rocking bar 45, and the preceding rocking bar 44 is isometric with rear rocking bar 45 and parallel sets
Put, the preceding rocking bar 44 is connected with the other end of rear rocking bar 45 by second connecting rod 46, and the second connecting rod 46 connects positioned at first
The top of bar 43, the preceding rocking bar 44 are connected with supporting rod vertically downward close to 100 front end of rack, the middle part of the second connecting rod 46
47, landing part 48 is connected with 47 lower end of supporting rod；The structure phase of first, second, third, fourth walking mechanism
Together, the middle part of preceding rocking bar 44 in the first walking mechanism 35 is connected at 100 front end of rack by the first guide rod 51, and described the
The middle part of preceding rocking bar 44 in two walking mechanisms 36 is connected at 100 front end of rack by the second guide rod 52, and described the third line walks machine
The middle part of rear rocking bar 45 on structure 37 is connected to 100 rear end of rack by the 3rd guide rod 53, and the fourth line is walked in mechanism 38
The middle part of rocking bar 45 is connected to 100 rear end of rack by the 4th guide rod 54 afterwards, and crank and rotation axis are fixedly linked, connecting rod, guide rod
Both ends are rotation connection, and the middle part of rack 100 is equipped with movable motor 30, and the output terminal of the movable motor 30 passes through belt wheel
It is sequentially connected in second, third rotation axis, second rotation axis 32 is connected to the first rotation axis 31 by belt wheel transmission, described
3rd rotation axis 33 is connected to the 4th rotation axis 34 by belt wheel transmission, therefore first, second, third and fourth rotation axis rotates synchronously；Four
The length of a guide rod is identical, and the length of preceding rocking bar 44 is more than the length of the first guide rod 51, and the length of the first guide rod 51 is more than first
The length of connecting rod 43, the length of first connecting rod 43 are more than the length of the first crank 41.First guide rod length is the half of preceding rocking bar.
The initial rotation angle that first walking mechanism and the third line walk mechanism is identical, and the second walking mechanism and fourth line walk the initial of mechanism
Rotational angle is identical, and the initial rotation angle of first walking mechanism and the second walking mechanism differs 180 °.
Line, the first crank, the second crank, first connecting rod between first rotation axis and the second rotation axis form one and put down
Row quadrangular mechanism, first connecting rod, the first rocking bar, the second rocking bar, second connecting rod form another parallelogram mechanism.
As shown in Figure 1, being shown as first walking mechanism and fourth line walks that mechanism is liftoff, and the second walking mechanism and the third line are walked
Mechanism lands；As shown in figure 5, movable motor drives each rotation axis to rotate counterclockwise, the landing part in four walking mechanisms is same
When it is of short duration contact to earth, complete alternating movement, the walking manner of similar doggie realized, as shown in fig. 6, the second walking mechanism and the 3rd
Walking mechanism is liftoff, and first walking mechanism and fourth line walk mechanism and land.
As shown in fig. 7, dotted line is the movement locus of landing part in figure, mark 49 is ground, and single landing part 48 is landing
Move from the front to the back afterwards, drive rack 100 to advance, then liftoff soar travels forward at rear, and forefront lands again.
As shown in Fig. 8 to Figure 10,100 front end of rack is equipped with robot device 10, and the robot device 10 includes
The shaft mounting base 11 being fixed in rack 100, rotates in the shaft mounting base 11 and is socketed with first turn successively from outside to inside
Axis 12, the second shaft 13, the 3rd shaft 14, i.e. first rotating shaft 12, the second shaft 13, the 3rd shaft 14 are coaxially disposed, the 3rd turn
Axis 14 is rotatably dispose in the second shaft 13, and the second shaft 13 is rotatably dispose in first rotating shaft 12, and first rotating shaft 12 is rotated and set
Be placed in shaft mounting base 11, between the 3rd shaft 14 and the second shaft 13, between the second shaft 13 and first rotating shaft 12, first
Can be rotatedly connected between shaft 12 and shaft mounting base 11 by bearing (not shown) so that first rotating shaft 12, the second shaft 13,
The rotation of 3rd shaft 14 is non-interference, and the length of the 3rd shaft 14 is more than the length of the second shaft 13, the length of the second shaft 13
For degree more than the length of first rotating shaft 12, the front end of the first rotating shaft 12 is equipped with runing rest 15, and the two of the runing rest 15
End is rotatably connected to first gear 16 and second gear 17 respectively, and the first gear 16 is parallel with second gear 17 and sets relatively
To put, the front end of second shaft 13 is fixedly connected with the 3rd gear 18, i.e. the second shaft 13 and the 3rd gear 18 rotates synchronously,
3rd gear 18 and 16 perpendicular setting of first gear and engaged transmission, the first gear 16 and 18 shape of the 3rd gear
Identical, the front end of the 3rd shaft 14 is fixedly connected with the 4th gear 19, i.e. the 3rd shaft 14 and synchronous turn of the 4th gear 19
Dynamic, the 4th gear 19 and 17 perpendicular setting of second gear and engaged transmission, the bottom of the first gear 16 is connected with
Manipulator rotary shaft rack 20, manipulator rotary shaft rack 20 and first gear 16 rotate synchronously, on the manipulator rotary shaft rack 20
The 4th shaft 21 is rotatably connected to, the 4th shaft 21 is coaxially disposed with the 3rd shaft 14, and the medial extremity of the 4th shaft 21 is set
There is the 5th gear 22, outboard end is equipped with manipulator 23, the 5th gear 22 setting perpendicular with second gear 17 and engages biography
Dynamic, the second gear 17, the 4th gear 19,22 shape of the 5th gear are identical, the first rotating shaft 12, the second shaft 13, the
The rear end of three shafts 14 is respectively equipped with a travelling gear 24, and each travelling gear 24 engages a driving rack 25, Mei Yisuo
Driving rack 25 is stated by cylinder driving (not shown) so that the driving rack 25 moves along a straight line back and forth.Motion principle is as follows：
When the rotation of the 3rd shaft is operated alone, by the transmission of the 4th gear, second gear, the 5th next round, make the 4th shaft rotation, its
Rotation direction is opposite with the rotation direction of the 3rd shaft；When the rotation of the second shaft is operated alone, pass through the 3rd gear, first gear
Transmission, and second gear, the engagement of the 5th gear, the 4th shaft is moved on horizontal plane direction and make the 4th shaft from
Turn；When first rotating shaft rotation is operated alone, runing rest rotates, and drives second gear movement, passes through second gear, the 5th
The transmission of gear, makes the 4th shaft move obliquely upward, is concurrently born from and turns；, can when driving the 3rd shaft and the second shaft at the same time
The 4th shaft is moved on horizontal plane direction, and rotation does not occur；Therefore robot device movement variation, can meet a variety of
Job requirements.Manipulator can have beta pruning instrument, picker etc. multiple types of tools, and this is not restricted.
As shown in Figure 8 and Figure 11, transfer device 7 is additionally provided with the rack 100, the transfer device 7 is stretched including hydraulic pressure
Contracting bar 71, fixing base 72, base 73, bearing block 74, connecting shaft 75, transhipment motor 76, contiguous block 77, clamping jaw 78 and clamping pull rod
79, the base 73 is installed on the top of rack 100, and the hydraulic telescopic rod 71 is vertically mounted on base 73, and the upper end is equipped with
Fixing base 72, the bearing block 74 are located on rear side of 72 upper end of fixing base, and the transhipment motor 76 is located on front side of 72 upper end of fixing base,
The connecting shaft 75 is horizontally arranged on bearing block 74, and its one end is connected with transhipment motor 76, and the other end is connected with contiguous block 77,
The contiguous block 77, which is equipped with, clamps pull rod 78, and the clamping pull rod 78 is connected with clamping jaw 78, and the clamping jaw 78 is symmetrical arc
Shape plate.Object is gripped by arc clamping jaw 78, hydraulic telescopic rod moves up and down, and connecting shaft is fixed on bearing block, passes through transhipment
Motor drives the rotation of connecting shaft, realizes the rotation of clamping jaw, can vertically or horizontally transport gripping object and put, convenient transhipment
While, greatly save human cost.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of afforestation robot, including rack, it is characterised in that in the rack along same level from front to back
The first rotation axis, the second rotation axis, the 3rd rotation axis, the 4th rotation axis, first rotation axis, second are equipped with direction successively
The side of rotation axis is connected with first walking mechanism, and opposite side is connected with the second walking mechanism, the 3rd rotation axis, the 4th turn
The side of moving axis is connected with the third line and walks mechanism, and opposite side is connected with fourth line and walks mechanism, and the first walking mechanism includes hanging down
Direct-connected the first crank for being connected to first rotation axis one end, the second crank for being vertically connected at second rotation axis one end, described first
Crank, the second crank are isometric and parallel, and the other end of first crank and the second crank is connected by first connecting rod, and described
The both ends of one connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, and the preceding rocking bar and rear rocking bar are isometric and be arranged in parallel, described
Preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, and the second connecting rod is located above first connecting rod, is shaken before described
Bar is connected with supporting rod, is connected with the supporting rod lower end vertically downward close to rack front end, the middle part of the second connecting rod
Landing part, the structure of first, second, third, fourth walking mechanism is identical, in the preceding rocking bar in the first walking mechanism
Portion is connected at rack front end by the first guide rod, is connected in the middle part of the preceding rocking bar in second walking mechanism by the second guide rod
At rack front end, the rear rocking bar middle part that described the third line is walked in mechanism is connected to rack rear end by the 3rd guide rod, described
The rear rocking bar middle part that fourth line is walked in mechanism is connected to rack rear end by the 4th guide rod, and the central rack is equipped with walking electricity
Machine, the output terminal of the movable motor are connected to second, third rotation axis by belt wheel transmission, and second rotation axis passes through band
Wheel is sequentially connected is connected to the 4th rotation axis in the first rotation axis, the 3rd rotation axis by belt wheel transmission；
Transfer device is additionally provided with the rack, the transfer device includes hydraulic telescopic rod, fixing base, base, bearing block, company
Spindle, transhipment motor, contiguous block, clamping jaw and clamping pull rod, for the floor installation above rack, the hydraulic telescopic rod is vertical
On base, the upper end is equipped with fixing base, and the bearing seat is on rear side of fixing base upper end, and the transhipment motor is positioned at solid
On front side of joint chair upper end, the connecting shaft is horizontally arranged on bearing block, and its one end is connected with transhipment motor, the other end and contiguous block
Connection, the contiguous block, which is equipped with, clamps pull rod, and the clamping pull rod is connected with clamping jaw, and the clamping jaw is symmetrical arc panel.
2. rack according to claim 1, it is characterised in that the rack front end is equipped with robot device, the machinery
Arm device includes the shaft mounting base being fixed in rack, is rotated successively from outside to inside in the shaft mounting base and is socketed with first
Shaft, the second shaft, the 3rd shaft, the front end of the first rotating shaft are equipped with runing rest, the both ends difference of the runing rest
First gear and second gear are rotatably connected to, the first gear is parallel with second gear and is oppositely arranged, described second turn
The front end of axis is fixedly connected with the 3rd gear, the 3rd gear and the perpendicular setting of first gear and engaged transmission, and described the
One gear and the 3rd gear shape are identical, and the front end of the 3rd shaft is fixedly connected with the 4th gear, the 4th gear and
The perpendicular setting of second gear and engaged transmission, the bottom of the first gear is connected with manipulator rotary shaft rack, the machinery
The 4th shaft is rotatably connected on hand rotary shaft rack, the medial extremity of the 4th shaft is equipped with the 5th gear, and outboard end is equipped with machine
Tool hand, the 5th gear and the perpendicular setting of second gear and engaged transmission, the second gear, the 4th gear, the 5th tooth
Wheel shape is identical, and the first rotating shaft, the second shaft, the rear end of the 3rd shaft are respectively equipped with a travelling gear, each biography
Moving gear engage a driving rack, each driving rack drive by a cylinder so that the driving rack back and forth straight line fortune
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243501.2A CN108032293A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243501.2A CN108032293A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032293A true CN108032293A (en) | 2018-05-15 |
Family
ID=62094592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711243501.2A Pending CN108032293A (en) | 2017-11-30 | 2017-11-30 | A kind of afforestation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032293A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050748A (en) * | 2018-09-05 | 2018-12-21 | 唐超 | A kind of energy-saving and environment-friendly constructions work transloading equipment |
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
| CN112478777A (en) * | 2020-12-13 | 2021-03-12 | 恩纳基智能科技无锡有限公司 | Multifunctional chip mounter |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN206476718U (en) * | 2017-01-13 | 2017-09-08 | 合肥安博印务有限公司 | A kind of wound roll material paper fork truck transporter |
-
2017
- 2017-11-30 CN CN201711243501.2A patent/CN108032293A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN206476718U (en) * | 2017-01-13 | 2017-09-08 | 合肥安博印务有限公司 | A kind of wound roll material paper fork truck transporter |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050748A (en) * | 2018-09-05 | 2018-12-21 | 唐超 | A kind of energy-saving and environment-friendly constructions work transloading equipment |
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
| CN112478777A (en) * | 2020-12-13 | 2021-03-12 | 恩纳基智能科技无锡有限公司 | Multifunctional chip mounter |
| CN112478777B (en) * | 2020-12-13 | 2021-09-03 | 恩纳基智能科技无锡有限公司 | Multifunctional chip mounter |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180515 |