CN108818616B - Robot arm gravity balancing device - Google Patents
Robot arm gravity balancing device Download PDFInfo
- Publication number
- CN108818616B CN108818616B CN201810627211.6A CN201810627211A CN108818616B CN 108818616 B CN108818616 B CN 108818616B CN 201810627211 A CN201810627211 A CN 201810627211A CN 108818616 B CN108818616 B CN 108818616B
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- plate
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- connecting rod
- bearing
- nuts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot arm gravity balancing device which comprises a frame mechanism, wherein the frame mechanism comprises a first plate, a second plate and a third plate, the first plate, the second plate and the third plate are connected through a plurality of long screws, the long screws are inserted into four corners of the third plate, a first cushion pipe is arranged on the long screws between the third plate and the second plate, a plurality of first nuts are arranged on a side panel of the second plate, which is close to the first plate, the first nuts are in threaded connection with the long screws, a slot is arranged on one side of the first nuts, which is far away from the second plate, a second cushion pipe is inserted into the slot, the second cushion pipe is inserted into the long screws between the first nuts and the first plate, a second nut is arranged on a side panel of the first plate, which is far away from the second plates, and the second nuts are in threaded connection with the long screws. The gravity balancing device for the robot arm is novel in structure, simple in principle and convenient to use, and is a novel and practical gravity balancing device for the robot arm.
Description
Technical Field
The invention belongs to the technical field of instruments for robots, and particularly relates to a gravity balancing device for a robot arm.
Background
When the robot arm grabs or lifts some heavy objects, the gravity balance of the robot arm can be greatly influenced, and if the robot arm is not regulated to a certain extent, the robot arm can be bent or broken. In the prior art, a monitoring and control system of gravity balance is perfect, and a gravity balance device matched with the system has a plurality of defects, such as vibration, unstable transmission mechanism and the like, when in adjustment, improvement and market vacancy exist, so the invention provides a robot arm gravity balance device for solving the problems.
Disclosure of Invention
The invention aims to solve the problems and provide a gravity balancing device for a robot arm, which solves the problems existing in the prior art.
In order to solve the problems, the invention provides a technical scheme that:
the utility model provides a robot arm gravity balancing unit, includes frame mechanism, frame mechanism includes a board, no. two boards and No. three boards, through a plurality of long screw connections between No. one board, no. two boards and the No. three boards, just long screw grafting is in No. three four corners of boards, be equipped with a pad pipe on the long screw between No. three boards and the No. two boards, be equipped with a plurality of nuts on the one side panel that No. two boards are close to No. one board, a nut threaded connection is on the long screw, be equipped with the slot on the one side that No. one nut kept away from No. two boards, peg graft in the slot and have No. two pad pipes, peg graft on the long screw between a nut and No. one board, be equipped with No. two nuts on one side panel that No. two boards are kept away from to No. one board, no. two boards and No. three boards's lower extreme all are perpendicular to be connected on the base plate, no. three boards keep away from No. one side panel center motor and are connected with a plurality of electric motor through a capstan winch fixed connection, no. three board is kept away from one side panel and is connected with a capstan winch connection, no. three motor connection has a fixed connection has a capstan.
Preferably, the plug block is arranged between the second plate and the third plate, the plug block is connected with a U-shaped connecting rod through a third screw, an inserting end of the third screw is connected with a third nut in a threaded mode, the middle position of the U-shaped connecting rod is connected with a transmission shaft through a welding block, one end, far away from the welding block, of the transmission shaft penetrates through the third plate and is arranged in the third through hole, the third through hole is arranged on the first plate, two first bearings are fixedly connected onto the transmission shaft, grooves are formed in one side panel, opposite to the first plate, of the first bearing, the first bearings are arranged in the grooves in a one-to-one mode, bearing connecting rings are welded on the outer sides of the first bearings, the bearing connecting rings are connected with the first plate and the second plate through a plurality of fourth screws respectively, a worm gear pipe is fixedly connected to the middle position of the transmission shaft between the first plate and the second plate, the worm gear pipe is connected with a transmission mechanism, and the transmission mechanism is arranged above the worm pipe.
Preferably, the transmission mechanism comprises a first gear connected with the turbine worm pipe in a jogged manner, the first gear is connected with a second gear arranged above the first gear in a jogged manner, the first gear is connected with a first connecting rod through a second bearing, the second gear is connected with a second connecting rod through the second bearing, the first connecting rod and the second connecting rod are respectively sleeved with a first connecting ring and a second connecting ring, a fixed ring is arranged between the first connecting ring and the second bearing, a first pressing ring welded on the fixed ring is arranged between the fixed ring and the second bearing, a third pressing ring is arranged between the fixed ring and the first connecting ring, a third pressing ring is arranged between the first connecting ring and the second connecting ring, internal threads are respectively arranged at two ends of the first connecting rod and the second connecting rod, a fifth screw is in one-to-one threaded connection, a second pressing ring is arranged between the fifth screw and the second connecting ring, the second pressing ring is welded on the fifth screw, a first connecting ring and the second connecting ring on the connecting rod are respectively welded on the first connecting plate, a plurality of side plates are welded on the first connecting plates and the second connecting plates, a plurality of side plates are welded on the first side plates are respectively welded on the first side plates and the second plates, a plurality of side plates are respectively welded on the first side plates are respectively welded with the first side plates and are respectively connected with the first side plates, and second plates are respectively welded with a plurality of side plates, and are respectively The second plate is connected with the mechanical arm connecting plate.
Preferably, the fixing ring is welded on the first connecting rod and the second connecting rod.
Preferably, the third backing ring is sleeved on the first connecting rod and the second connecting rod.
Preferably, the length, width and height of the first plate are the same as those of the second plate in one-to-one correspondence.
Preferably, no. two backing rings are arranged between the No. one bearing and the No. one plate and between the No. one bearing and the No. two plate.
Preferably, a first backing ring is arranged between a side panel of the third plate far away from the second plate and the long screw.
Compared with the prior art, the invention has the following advantages and remarkable progress:
when the mechanical arm needs to be adjusted, the external gravity monitoring control system controls the electric winch to operate, the electric winch drives the worm and gear tube in transmission connection with the electric winch to rotate, then the worm and gear tube drives two gears in the transmission mechanism to rotate, the upper end of the second gear is fixedly connected with the mechanical arm, so that the inclination angle of the mechanical arm can be adjusted when the second gear rotates, during the period, the first bearing is used for fixing the transmission shaft, and the second bearing is used for fixing the two gears. According to the invention, the first cushion pipe and the second cushion pipe are matched with the first nut and the second nut to clamp each plate, so that the space between the three plates is fixed, and a user can select cushion pipes with proper lengths according to the needs; the electric winch can be very conveniently separated from the transmission system by utilizing the connection mode of the combination of the plug-in block and the U-shaped connecting rod, and the design is convenient for a user to repair or replace the electric winch; the spring set provided by the invention can support the mechanical arm connecting plate to a certain extent, and can relieve vibration generated during operation of the electric winch, so that the mechanical arm is protected to a certain extent.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a transmission mechanism according to the present invention;
FIG. 3 is a schematic view of a fixing ring according to the present invention;
FIG. 4 is a schematic view of a fixing rod according to the present invention;
FIG. 5 is an enlarged schematic view of the structure of the present invention at A;
FIG. 6 is an enlarged schematic view of the structure of the present invention at B;
FIG. 7 is a schematic diagram of a second plate structure according to the present invention;
fig. 8 is a schematic structural view of a first nut of the present invention.
In the figure: 1. a frame mechanism; 2. a first plate; 3. a second plate; 4. a third plate; 5. a long screw; 6. a first backing ring; 7. a first cushion pipe; 8. a first nut; 9. a second cushion pipe; 10. a slot; 11. a second nut; 12. a base plate; 13. a first screw; 14. a motor fixing plate; 15. an electric winch; 16. a connecting shaft; 17. perforating the first hole; 18. perforating the second hole; 19. a plug block; 20. a third screw; 21. a U-shaped connecting rod; 22. a third nut; 23. a welding block; 24. a transmission shaft; 25. perforating the third hole; 26. a first bearing; 27. a groove; 28. a bearing connection ring; 29. a fourth screw; 30. a second backing ring; 31. a worm wheel and worm pipe; 32. a transmission mechanism; 33. a first gear; 34. a second bearing; 35. a first connecting rod; 36. a first connecting ring; 37. a second connecting ring; 38. a fixing ring; 39. a first press ring; 40. a third backing ring; 41. an internal thread; 42. a screw number five; 43. a first fixed arm; 44. a second fixed arm; 45. welding plates; 46. a fixed rod; 47. a second connecting rod; 48. a second gear; 49. a mechanical arm connecting plate; 50. a spring connecting plate; 51. a spring set; 52. and a second compression ring.
Detailed Description
As shown in fig. 1-8, the present embodiment adopts the following technical scheme: the robot arm gravity balancing device comprises a frame mechanism 1, wherein the frame mechanism 1 comprises a first plate 2, a second plate 3 and a third plate 4, the first plate 2, the second plate 3 and the third plate 4 are connected through a plurality of long screws 5, the long screws 5 are inserted into four corners of the third plate 4, a first cushion pipe 7 is arranged on the long screws 5 between the third plate 4 and the second plate 3, a plurality of first nuts 8 are arranged on a side panel of the second plate 3 close to the first plate 2, the first nuts 8 are connected with the long screws 5 in a threaded manner, a slot 10 is arranged on a side surface of the first nuts 8 far away from the second plate 3, a second cushion pipe 9 is inserted into the slot 10, the second cushion pipe 9 is inserted into the long screws 5 between the first nuts 8 and the first plate 2, be equipped with No. two nuts 11 on the panel of No. one board 2 one side of keeping away from No. two boards 3, no. two nuts 11 and long screw 5 threaded connection, the lower extreme of No. one board 2, no. two boards 3 and No. three boards 4 is all perpendicular to be connected on bed plate 12, no. three boards 4 are kept away from a panel center department of No. two boards 3 and are connected with motor fixing plate 14 through a plurality of screws 13, motor fixing plate 14 is kept away from fixedly connected with electric capstan 15 on the panel of No. one board 4, the output of electric capstan 15 is connected with connecting axle 16, the one end that electric capstan 15 was kept away from to connecting axle 16 is passed and is set up No. one perforation 17 on motor fixing plate 14 and No. two perforation 18 on No. three boards 4 are connected with grafting piece 19.
The utility model provides a turbine wheel and worm mechanism, including board 3, worm wheel and worm tube 32, wherein, the grafting piece 19 sets up between board 3 No. two and board 4, just the grafting piece 19 is connected with U type connecting rod 21 through No. three screw 20, no. three screw 20's insertion end threaded connection has No. three nut 22, the intermediate position of U type connecting rod 21 is connected with transmission shaft 24 through welding piece 23, the one end that the welding piece 23 was kept away from to transmission shaft 24 passes No. two boards 3 and sets up in No. three perforation 25, just No. three perforation 25 set up on board 2, fixedly connected with two bearing 26 on the transmission shaft 24, no. one board 2 that the bearing 26 corresponds all is provided with recess 27 on the relative one side panel of board 3 No. two, just bearing 26 one-to-one sets up in recess 27, the outside welding of bearing 26 has the bearing go-between 28, the bearing go-between is connected with board 2 and No. two boards 3 through a plurality of screw 29 respectively, the intermediate position of transmission shaft 24 between board 2 and No. two boards 3 has worm wheel and worm wheel tube 31, worm wheel and worm mechanism 32 is connected with worm wheel tube 31 on board 32.
Wherein the transmission mechanism 32 comprises a first gear 33 which is connected with the worm gear 31 in a jogging way, a second gear 48 which is arranged above the first gear 33 is connected with the first gear 33 in a jogging way, the first gear 33 is connected with a first connecting rod 35 through a second bearing 34, the second gear 48 is connected with a second connecting rod 47 through a second bearing 34, the first connecting rod 35 and the second connecting rod 47 are sleeved with a first connecting ring 36 and a second connecting ring 37, a fixed ring 38 is arranged between the first connecting ring 36 and the second bearing 34, a first pressing ring 39 welded on the fixed ring 38 is arranged between the fixed ring 38 and the second bearing 34, a third backing ring 40 is arranged between the fixed ring 38 and the first connecting ring 36, a third backing ring 40 is arranged between the first connecting ring 36 and the second connecting ring 37, both ends of the first connecting rod 35 and the second connecting rod 47 are respectively provided with internal threads 41, the internal thread 41 is in one-to-one correspondence with the screw 42, a second compression ring 52 is arranged between the screw 42 and the second connection ring 37, the second compression ring 52 is welded on the screw 42, the first connection ring 36 on the first connection rod 35 is in one-to-one correspondence with the second connection ring 37 and is connected with the first fixing arm 43 of the fixing rod 46, the first connection ring 36 on the second connection rod 47 is in one-to-one correspondence with the second connection ring 37 and is connected with the second fixing arm 44 of the fixing rod 46, the fixing rod 46 is welded at two ends of the welding plate 45, one side panel of the welding plate 45 far away from the fixing rod 46 is respectively welded with the first plate 2 and the second plate 3, the upper end of the second gear 48 is welded with a mechanical arm connection plate 49, a plurality of spring groups 51 are arranged between the mechanical arm connection plate 49 and the upper side panel of the first plate 2, a plurality of spring groups 51 are arranged between the mechanical arm connecting plate 49 and the upper side panel of the second plate 3, and two ends of each spring group 51 are respectively connected with the first plate 2, the second plate 3 and the mechanical arm connecting plate 49 through spring connecting plates 50.
Wherein, the fixed ring 38 is welded on the first connecting rod 35 and the second connecting rod 47, so as to fix the second bearing 34.
The third backing ring 40 is sleeved on the first connecting rod 35 and the second connecting rod 47, so as to fix the first connecting ring 36 and the second connecting ring 37.
Wherein, the length, width and height of the first plate 2 are the same as the length, width and height of the second plate 3 in a one-to-one correspondence, so as to facilitate installation.
And a second backing ring 30 is arranged between the first bearing 26 and the first plate 2 and between the first bearing 26 and the second plate 3 so as to be convenient for fixing.
And a first backing ring 6 is arranged between a side panel of the third plate 4 far away from the second plate 3 and the long screw 5 so as to be convenient for fixing.
Specific: when the gravity balancing device for the robot arm is used, firstly, the first plate 2, the second plate 3 and the third plate 4 of the frame mechanism 1 are assembled according to requirements, then the lower ends of the three plates are welded on the base plate 12, then the related structure of the electric winch 15 and the transmission mechanism 32 are assembled according to requirements, finally, the mechanical arm is installed on the mechanical arm connecting plate 49, and finally, the electric winch 15 is connected into the gravity monitoring control circuit, and the gravity balancing device can be used; according to the invention, the first cushion pipe 7 and the second cushion pipe 9 are matched with the first nut 8 and the second nut 11, so that each plate can be clamped, the space between the three plates is fixed, a user can select cushion pipes with proper lengths according to the needs, the design is flexible and changeable, the fixing effect of the space is good, and the space is not easy to change; the electric winch 15 can be very conveniently separated from the transmission system by utilizing the connection mode of the combination of the plug-in block 19 and the U-shaped connecting rod 21, and the design is convenient for a user to repair or replace; the spring group 51 provided by the invention can support the mechanical arm connecting plate 49 to a certain extent, and relieve the vibration generated during the operation of the electric winch 15, so as to protect the mechanical arm to a certain extent.
While the basic principles and main features of the present invention and advantages of the present invention have been shown and described, it will be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, which are described in the foregoing specification merely illustrate the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a robot arm gravity balancing unit, includes frame mechanism (1), its characterized in that: the frame mechanism (1) comprises a first plate (2), a second plate (3) and a third plate (4), wherein the first plate (2), the second plate (3) and the third plate (4) are connected through a plurality of long screws (5), the long screws (5) are inserted into four corners of the third plate (4), a first cushion pipe (7) is arranged on the long screws (5) between the third plate (4) and the second plate (3), a plurality of first nuts (8) are arranged on a side panel of the second plate (3) close to the first plate (2), the first nuts (8) are in threaded connection with the long screws (5), the first nuts (8) are far away from the first side of the second plate (3), a second cushion pipe (9) is inserted into the slot (10), the second cushion pipe (9) is inserted into the long screws (5) between the first nuts (8) and the first plate (2), the first plate (2) is far away from the second nuts (3), the second nuts (3) are far away from the first nuts (11) and the second plates (2), the first plates (3) are far away from the first nuts (11) and the second plates (3) respectively, the motor fixing plate (14) is connected to the center of a side panel of the third plate (4) far away from the second plate (3) through a plurality of first screws (13), an electric winch (15) is fixedly connected to a side panel of the third plate (4) far away from the motor fixing plate (14), a connecting shaft (16) is connected to the output end of the electric winch (15), and one end of the connecting shaft (16) far away from the electric winch (15) penetrates through a first through hole (17) arranged on the motor fixing plate (14) and a second through hole (18) arranged on the third plate (4) to be connected with a plug-in block (19);
the plug-in block (19) is arranged between the second plate (3) and the third plate (4), the plug-in block (19) is connected with a U-shaped connecting rod (21) through a third screw (20), an inserting end of the third screw (20) is connected with a third nut (22) in a threaded manner, a transmission shaft (24) is connected to the middle position of the U-shaped connecting rod (21) through a welding block (23), one end of the transmission shaft (24) far away from the welding block (23) penetrates through the second plate (3) to be arranged in a third through hole (25), the third through hole (25) is arranged on the first plate (2), two first bearings (26) are fixedly connected to the transmission shaft (24), the bearing (26) is arranged in the groove (27) in a one-to-one correspondence manner, a bearing connecting ring (28) is welded on the outer side of the bearing (26), the bearing connecting ring (28) is respectively connected with the first plate (2) and the second plate (3) through a plurality of fourth screws (29), a turbine worm pipe (31) is fixedly connected at the middle position of a transmission shaft (24) between the first plate (2) and the second plate (3), the worm gear and worm pipe (31) is connected with a transmission mechanism (32), and the transmission mechanism (32) is arranged above the worm gear and worm pipe (31);
the transmission mechanism (32) comprises a first gear (33) which is connected with the turbine worm pipe (31) in a jogged mode, a second gear (48) which is arranged above the first gear (33) is connected with the first gear (33) in a jogged mode, a first connecting rod (35) is connected with the second gear (48) through a second bearing (34), a second connecting rod (47) is connected with the second gear (48) through the second bearing (34), a first connecting ring (36) and a second connecting ring (37) are sleeved on the first connecting rod (35) and the second connecting rod (47), a fixed ring (38) is arranged between the first connecting ring (36) and the second bearing (34), a first pressing ring (39) welded on the fixed ring (38) is arranged between the fixed ring (38) and the first connecting ring (36), a third backing ring (40) is arranged between the first connecting ring (36) and the second connecting ring (37), a fifth pressing ring (40) is arranged between the first connecting ring (36) and the second connecting ring (37), two ends of the first connecting rod (35) are connected with a fifth screw (41), a second pressing ring (52) is arranged between the fifth screw (42) and the second connecting ring (37), the second pressing ring (52) is welded on the fifth screw (42), a first connecting ring (36) on the first connecting rod (35) is in one-to-one correspondence with the second connecting ring (37) and is connected with a first fixing arm (43) of the fixing rod (46), a first connecting ring (36) on the second connecting rod (47) is in one-to-one correspondence with the second connecting ring (37) and is connected with a second fixing arm (44) of the fixing rod (46), the fixing rod (46) is welded at two ends of a welding plate (45), one side panel of the welding plate (45) far away from the fixing rod (46) is respectively welded with the first plate (2) and the second plate (3), a mechanical arm connecting plate (49) is welded at the upper end of the second gear (48), a plurality of spring groups (51) are arranged between the first connecting plate (49) and an upper side panel of the first plate (2), and a plurality of spring groups (51) are arranged between the mechanical arm connecting plate (49) and the second plate (3) and the spring groups (51) and the two ends of the spring plates (50) are respectively arranged between the mechanical arm connecting plate (49 and the two plates (3);
the fixed ring (38) is welded on the first connecting rod (35) and the second connecting rod (47);
the third backing ring (40) is sleeved on the first connecting rod (35) and the second connecting rod (47).
2. The robotic arm weight balancing device of claim 1, wherein: the length, the width and the height of the first plate (2) are the same as those of the second plate (3) in one-to-one correspondence.
3. The robotic arm weight balancing device of claim 1, wherein: and a second backing ring (30) is arranged between the first bearing (26) and the first plate (2) and between the first bearing (26) and the second plate (3).
4. The robotic arm weight balancing device of claim 1, wherein: a first backing ring (6) is arranged between a side panel of the third plate (4) far away from the second plate (3) and the long screw (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627211.6A CN108818616B (en) | 2018-06-19 | 2018-06-19 | Robot arm gravity balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627211.6A CN108818616B (en) | 2018-06-19 | 2018-06-19 | Robot arm gravity balancing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108818616A CN108818616A (en) | 2018-11-16 |
| CN108818616B true CN108818616B (en) | 2023-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810627211.6A Active CN108818616B (en) | 2018-06-19 | 2018-06-19 | Robot arm gravity balancing device |
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| Country | Link |
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| CN (1) | CN108818616B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821699B (en) * | 2020-07-16 | 2021-09-17 | 东莞理工学院 | Fighting robot with anti-toppling underframe |
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| CN201880326U (en) * | 2010-12-27 | 2011-06-29 | 哈尔滨师范大学 | Vibration equilong multi-angle sprint special strength training and monitoring device |
| DE102010009447A1 (en) * | 2010-02-24 | 2011-08-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80686 | joint |
| CN102642163A (en) * | 2012-05-22 | 2012-08-22 | 曹高月 | Mould transferring machine of water drill processing device |
| CN103406814A (en) * | 2013-08-22 | 2013-11-27 | 梧州学院 | Gem processing device |
| CN206041913U (en) * | 2016-10-08 | 2017-03-22 | 黄正集 | Curbside retailer is solar panel angle adjusting device for shallow |
| CN108155859A (en) * | 2017-12-26 | 2018-06-12 | 郑州天舜电子技术有限公司 | It is a kind of can self-adjustable inclination domestic solar power generator |
| CN208289933U (en) * | 2018-06-19 | 2018-12-28 | 宝鸡文理学院 | A kind of manipulator gravity balance device for robot |
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2018
- 2018-06-19 CN CN201810627211.6A patent/CN108818616B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010009447A1 (en) * | 2010-02-24 | 2011-08-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80686 | joint |
| CN201880326U (en) * | 2010-12-27 | 2011-06-29 | 哈尔滨师范大学 | Vibration equilong multi-angle sprint special strength training and monitoring device |
| CN102642163A (en) * | 2012-05-22 | 2012-08-22 | 曹高月 | Mould transferring machine of water drill processing device |
| CN103406814A (en) * | 2013-08-22 | 2013-11-27 | 梧州学院 | Gem processing device |
| CN206041913U (en) * | 2016-10-08 | 2017-03-22 | 黄正集 | Curbside retailer is solar panel angle adjusting device for shallow |
| CN108155859A (en) * | 2017-12-26 | 2018-06-12 | 郑州天舜电子技术有限公司 | It is a kind of can self-adjustable inclination domestic solar power generator |
| CN208289933U (en) * | 2018-06-19 | 2018-12-28 | 宝鸡文理学院 | A kind of manipulator gravity balance device for robot |
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| Publication number | Publication date |
|---|---|
| CN108818616A (en) | 2018-11-16 |
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