CN109176495B - Multi-axis linkage manipulator - Google Patents
Multi-axis linkage manipulator Download PDFInfo
- Publication number
- CN109176495B CN109176495B CN201811153785.0A CN201811153785A CN109176495B CN 109176495 B CN109176495 B CN 109176495B CN 201811153785 A CN201811153785 A CN 201811153785A CN 109176495 B CN109176495 B CN 109176495B
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- Prior art keywords
- clamping
- manipulator
- driving
- screw rod
- horizontal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Program-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-axis linkage manipulator which comprises a manipulator support frame, wherein a horizontal guide rail is arranged on the manipulator support frame, a manipulator installation seat capable of horizontally moving on the horizontal guide rail is arranged on the horizontal guide rail, a horizontal driving assembly, a hollow screw rod, a screw rod lifting driving assembly and a screw rod rotation driving assembly are arranged on the manipulator installation seat, an inner rotating shaft is arranged in an inner cavity of the hollow screw rod, a rotating shaft driving assembly for driving the inner rotating shaft to rotate is arranged at the upper end part of the hollow screw rod, a manipulator clamping assembly is arranged at the lower end part of the hollow screw rod, and the manipulator clamping assembly is connected with the lower end of the inner rotating shaft and is driven by the inner rotating shaft to realize clamping action. The multi-axis linkage manipulator has the advantages of simple structure, small volume, reliable performance, high stability, high working efficiency, labor cost reduction and the like which are not possessed by the prior art.
Description
Technical Field
The invention relates to the field of circuit board processing, in particular to a multi-axis linkage manipulator.
Background
In the circuit board printing process, various manipulators are generally adopted to perform various automatic operations in order to reduce labor cost and improve automation degree. However, due to design or structural limitations, the existing manipulator device in the field generally has the defects of complex structure, large occupied space, great difficulty in controlling the manipulator in the actual implementation process, high implementation difficulty and high implementation cost, low performance stability and reliability and low action efficiency in the actual application process, and further reduces the working efficiency.
The drawbacks of the prior art described severely limit the further advances and generalizations in the field.
Accordingly, the present invention is directed to a new solution to solve the existing technical drawbacks.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a multi-axis linkage manipulator which solves the technical defects of complex structure, large volume, high implementation cost, low working efficiency and the like in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a multiaxis linkage's manipulator, includes the manipulator support frame, be provided with horizontal guide rail on the manipulator support frame, install the manipulator mount pad that can be on horizontal guide rail horizontal migration on the horizontal guide rail, be provided with horizontal drive subassembly, cavity lead screw, lead screw lift drive subassembly and lead screw rotation drive subassembly on the manipulator mount pad, be provided with inside pivot in the inside cavity of cavity lead screw, cavity lead screw upper end is provided with and is used for driving inside pivot pivoted pivot drive subassembly, and the lower extreme of cavity lead screw is provided with manipulator clamping assembly, manipulator clamping assembly with the lower extreme of inside pivot is connected and is realized the clamping action by inside pivot drive.
As the improvement of above-mentioned technical scheme, horizontal drive subassembly is including installing horizontal drive motor and the setting of manipulator mount pad be in horizontal drive motor output's horizontal drive gear, be provided with on the manipulator support frame and cooperate horizontal drive gear's horizontal drive rack, horizontal drive gear and horizontal drive rack cooperation constitute rack and pinion structure, horizontal drive motor accessible horizontal drive gear and horizontal drive rack drive manipulator mount pad slide on horizontal guide rail.
As a further improvement of the technical scheme, the screw rod lifting driving assembly comprises a lifting driving motor arranged on the mounting seat of the mechanical arm and a screw rod nut matched with the mounting seat of the mechanical arm, the screw rod nut is axially fixed with the mounting seat of the mechanical arm, the output end of the lifting driving motor is provided with a lifting driving synchronous wheel, the screw rod nut is provided with a lifting driven synchronous wheel, a lifting synchronous belt is wound between the lifting driving synchronous wheel and the lifting driven synchronous wheel, and the lifting driving motor can drive the screw rod nut to rotate and further drive the hollow screw rod to lift or descend through the lifting driving synchronous wheel, the lifting synchronous belt and the lifting driven synchronous wheel.
As a further improvement of the technical scheme, the screw rod rotation driving assembly comprises a rotation driving motor, a rotation driving synchronizing wheel and a rotation driven synchronizing wheel, wherein the rotation driving motor is installed on the manipulator installation seat, the rotation driving synchronizing wheel is arranged at the output end of the rotation driving motor, the rotation driven synchronizing wheel is arranged on the hollow screw rod, a rotation synchronizing belt is arranged between the rotation driving synchronizing wheel and the rotation driven synchronizing wheel in a winding manner, and the rotation driving motor can drive the hollow screw rod to rotate through the rotation driving synchronizing wheel, the rotation synchronizing belt and the rotation driven synchronizing wheel.
As a further improvement of the technical scheme, the rotating shaft driving assembly comprises an upper connector fixedly mounted at the upper end part of the hollow screw rod and a rotating shaft driving motor mounted above the upper connector, the rotating shaft driving motor is mounted on the upper connector through a motor mounting seat, the upper connector is a hollow connector and is internally provided with a rotating shaft upper bearing, the upper end of the internal rotating shaft is mounted in an inner ring of the rotating shaft upper bearing, and a coupler is arranged between the output end of the rotating shaft driving motor and the upper end part of the internal rotating shaft.
As the further improvement of above-mentioned technical scheme, manipulator clamping assembly includes clamping assembly mounting panel, clamping assembly mount pad and the clamping assembly fixed joint of fixed mounting in cavity lead screw lower extreme portion, be provided with clamping assembly guide rail board between clamping assembly mount pad and the clamping assembly fixed joint, clamping assembly fixed joint is cavity joint and its inside pivot lower part bearing that is provided with, the lower extreme of inside pivot is installed the inner circle of pivot lower part bearing and stretch out clamping assembly fixed joint's below, clamping assembly guide rail board's both ends are provided with first centre gripping slide and second centre gripping slide respectively, be provided with first centre gripping drive rack and first grip block on the first centre gripping slide, be provided with second centre gripping drive rack and second grip block on the second centre gripping slide, the lower extreme of inside pivot is provided with centre gripping drive gear, the both sides of centre gripping drive gear mesh with first centre gripping drive rack and second centre gripping drive rack respectively, centre gripping drive gear rack cooperation constitution rack and pinion structure, inside pivot accessible centre gripping drive gear and first centre gripping drive rack and second centre gripping drive rack slide drive rail.
As a further improvement of the above technical solution, a rack side guide roller and a rack bottom guide roller are provided at the lower part of the clamping assembly mounting seat, the rack side guide roller is mounted at the side of the clamping assembly mounting seat and is used for guiding the side walls of the first clamping driving rack and the second clamping driving rack, and the rack bottom guide roller is mounted at the bottom of the clamping assembly mounting seat and is used for guiding the bottom walls of the first clamping driving rack and the second clamping driving rack; the first clamping plate is provided with a clamping adjusting plate, and the clamping adjusting plate is provided with a strip-shaped adjusting hole.
As a further improvement of the technical scheme, the manipulator mounting seat is provided with a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are provided with a first mounting sleeve and a second mounting sleeve, and the hollow screw rod is mounted on the first mounting sleeve and the second mounting sleeve.
As a further improvement of the technical scheme, the manipulator mounting seat is provided with a horizontal position sensor, the manipulator support frame is provided with a horizontal position sensing piece matched with the horizontal position sensor, and the manipulator mounting seat is mounted on a horizontal guide rail through a horizontal guide rail sliding seat.
As a further improvement of the technical scheme, the manipulator support frame comprises two support rods and a support beam arranged between the two support rods, support feet are arranged at the bottoms of the support rods, and the horizontal guide rail is arranged on the support beam.
The beneficial effects of the invention are as follows: the invention provides a multi-axis linkage manipulator which realizes automatic operation of the manipulator through a horizontal driving assembly, a hollow screw rod, a screw rod lifting driving assembly, a screw rod rotation driving assembly, a rotating shaft driving assembly and a manipulator clamping assembly.
In a word, the manipulator with multi-axis linkage solves the technical defects of complex structure, large volume, high implementation cost, low working efficiency and the like in the prior art.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the assembly of the present invention;
FIG. 2 is an assembled schematic view of the present invention with the manipulator support removed;
FIG. 3 is a schematic view of an alternative angle assembly of the present invention with the manipulator support removed;
FIG. 4 is a schematic view of an assembly of a third angle of the present invention with the manipulator support removed;
FIG. 5 is an assembled view of a fourth angle of the present invention after removal of the manipulator support;
Fig. 6 is a cross-sectional view taken along the direction A-A in fig. 5.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all the coupling/connection relationships referred to in the patent are not direct connection of the single-finger members, but rather, it means that a better coupling structure can be formed by adding or subtracting coupling aids depending on the specific implementation. The technical features in the invention can be interactively combined on the premise of not contradicting and conflicting, and refer to figures 1-6.
The utility model provides a multiaxis linkage's manipulator, includes manipulator support frame 1, be provided with horizontal guide rail 11 on the manipulator support frame 1, install the manipulator mount pad 2 that can be on horizontal guide rail 11 horizontal migration on the horizontal guide rail 11, be provided with horizontal drive subassembly 4, cavity lead screw 3, lead screw lift drive subassembly 5 and lead screw rotation drive subassembly 6 on the manipulator mount pad 2, be provided with inside pivot 31 in the inside cavity of cavity lead screw 3, cavity lead screw 3 upper end is provided with and is used for driving inside pivot 31 pivoted pivot drive subassembly 7, and the lower tip of cavity lead screw 3 is provided with manipulator clamping assembly 8, manipulator clamping assembly 8 with inside pivot 31's lower extreme is connected and is realized the centre gripping action by inside pivot 31 drive.
When the invention is embodied, the horizontal driving component 4 can realize the horizontal movement of the manipulator, the screw rod lifting driving component 5 can realize the lifting of the manipulator, the screw rod rotation driving component can adjust the angle of the manipulator to achieve a more proper clamping angle, and the rotating shaft driving component 7 and the manipulator clamping component 8 are matched to realize the automatic clamping work of the manipulator.
Preferably, the horizontal driving assembly 4 comprises a horizontal driving motor 41 installed on the manipulator mounting seat 2 and a horizontal driving gear 42 arranged at the output end of the horizontal driving motor 41, a horizontal driving rack 43 matched with the horizontal driving gear 42 is arranged on the manipulator support frame 1, the horizontal driving gear 42 and the horizontal driving rack 43 are matched to form a gear rack structure, and the horizontal driving motor 41 can drive the manipulator mounting seat 2 to slide on the horizontal guide rail 11 through the horizontal driving gear 42 and the horizontal driving rack 43.
Preferably, the screw rod lifting driving assembly 5 comprises a lifting driving motor 51 arranged on the mounting seat 2 of the mechanical arm and a screw rod nut matched with the hollow screw rod 3, the screw rod nut is axially fixed with the mounting seat 2 of the mechanical arm, the output end of the lifting driving motor 51 is provided with a lifting driving synchronizing wheel 52, the screw rod nut is provided with a lifting driven synchronizing wheel 53, a lifting synchronous belt 54 is wound between the lifting driving synchronizing wheel 52 and the lifting driven synchronizing wheel 53, and the lifting driving motor 51 can drive the screw rod nut to rotate and further drive the hollow screw rod 3 to ascend or descend through the lifting driving synchronizing wheel 52, the lifting synchronous belt 54 and the lifting driven synchronizing wheel 53.
Preferably, the screw rod rotation driving assembly 6 comprises a rotation driving motor 61 installed on the manipulator mounting seat 2, a rotation driving synchronizing wheel 62 arranged on the output end of the rotation driving motor 61 and a rotation driven synchronizing wheel 63 arranged on the hollow screw rod 3, a rotation synchronizing belt 64 is wound between the rotation driving synchronizing wheel 62 and the rotation driven synchronizing wheel 63, and the rotation driving motor 61 can drive the hollow screw rod 3 to rotate through the rotation driving synchronizing wheel 62, the rotation synchronizing belt 64 and the rotation driven synchronizing wheel 63.
Preferably, the shaft driving assembly 7 includes an upper connector 71 fixedly installed at an upper end of the hollow screw rod 3 and a shaft driving motor 72 installed above the upper connector 71, the shaft driving motor 72 is installed on the upper connector 71 through a motor installation seat 73, the upper connector 71 is a hollow connector and is internally provided with a shaft upper bearing 74, an upper end of the inner shaft 31 is installed in an inner ring of the shaft upper bearing 74, and a coupling 75 is provided between an output end of the shaft driving motor 72 and an upper end of the inner shaft 31.
Preferably, the manipulator clamping assembly 8 includes a clamping assembly mounting plate 81, a clamping assembly mounting seat 82 and a clamping assembly fixing joint 83 fixedly mounted at the lower end of the hollow screw rod 3, a clamping assembly guide rail plate 84 is disposed between the clamping assembly mounting seat 82 and the clamping assembly fixing joint 83, the clamping assembly fixing joint 83 is a hollow joint and is internally provided with a rotating shaft lower bearing 85, the lower end of the inner rotating shaft 31 is mounted at the inner ring of the rotating shaft lower bearing 85 and extends out to the lower side of the clamping assembly fixing joint 83, a first clamping slide seat 861 and a second clamping slide seat 862 are respectively disposed at two ends of the clamping assembly guide rail plate 84, a first clamping driving rack 871 and a first clamping plate 881 are disposed on the first clamping slide seat 861, a second clamping driving rack 872 and a second clamping plate 882 are disposed on the second clamping slide seat 862, a clamping driving gear 89 is disposed at the lower end of the inner rotating shaft 31, two sides of the clamping driving gear 89 are respectively meshed with the first clamping driving rack 871 and the second clamping driving rack 872, the clamping driving rack 8789 is matched with the first clamping rack 871 and the second clamping assembly driving rack 872 and the second clamping assembly driving rack driving the first clamping rack driving the second 871.
Preferably, a rack side guide roller 821 and a rack bottom guide roller 822 are disposed at the lower part of the clamping assembly mounting seat 82, the rack side guide roller 821 is mounted at the side part of the clamping assembly mounting seat 82 and is used for guiding the side walls of the first clamping driving rack 871 and the second clamping driving rack 872, and the rack bottom guide roller 822 is mounted at the bottom of the clamping assembly mounting seat 82 and is used for guiding the bottom walls of the first clamping driving rack 871 and the second clamping driving rack 872; the first clamping plate 881 is provided with a clamping adjusting plate 883, and the clamping adjusting plate 883 is provided with a strip-shaped adjusting hole.
Preferably, the manipulator mounting seat 2 is provided with a first mounting plate 21 and a second mounting plate 22, the first mounting plate 21 and the second mounting plate 22 are provided with a first mounting sleeve 23 and a second mounting sleeve 24, and the hollow screw rod 3 is mounted on the first mounting sleeve 23 and the second mounting sleeve 24.
Preferably, the manipulator mounting seat 2 is provided with a horizontal position sensor 25, the manipulator support frame 1 is provided with a horizontal position sensing piece matched with the horizontal position sensor 25, and the manipulator mounting seat 2 is mounted on the horizontal guide rail 11 through the horizontal guide rail sliding seat 12.
Preferably, the manipulator support 1 includes two support rods 101 and a support beam 102 disposed between the two support rods 101, a support leg 103 is disposed at the bottom of the support rod 101, and the horizontal guide rail 11 is disposed on the support beam 102.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and the equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (6)
1. A multi-axis linkage manipulator is characterized in that: the manipulator support comprises a manipulator support frame (1), wherein a horizontal guide rail (11) is arranged on the manipulator support frame (1), a manipulator mounting seat (2) capable of horizontally moving on the horizontal guide rail (11) is arranged on the horizontal guide rail (11), a horizontal driving assembly (4), a hollow screw rod (3), a screw rod lifting driving assembly (5) and a screw rod rotation driving assembly (6) are arranged on the manipulator mounting seat (2), an inner rotating shaft (31) is arranged in an inner cavity of the hollow screw rod (3), a rotating shaft driving assembly (7) for driving the inner rotating shaft (31) to rotate is arranged at the upper end of the hollow screw rod (3), a manipulator clamping assembly (8) is arranged at the lower end of the hollow screw rod (3), and the manipulator clamping assembly (8) is connected with the lower end of the inner rotating shaft (31) and is driven by the inner rotating shaft (31) to realize clamping action;
The screw rod lifting driving assembly (5) comprises a lifting driving motor (51) arranged on the mounting seat (2) of the mechanical arm and a screw rod nut matched with the hollow screw rod (3), the screw rod nut is axially fixed with the mounting seat (2) of the mechanical arm, a lifting driving synchronizing wheel (52) is arranged at the output end of the lifting driving motor (51), a lifting driven synchronizing wheel (53) is arranged on the screw rod nut, a lifting synchronizing belt (54) is wound between the lifting driving synchronizing wheel (52) and the lifting driven synchronizing wheel (53), and the lifting driving motor (51) can drive the screw rod nut to rotate and further drive the hollow screw rod (3) to ascend or descend through the lifting driving synchronizing wheel (52), the lifting synchronizing belt (54) and the lifting driven synchronizing wheel (53);
The screw rod rotation driving assembly (6) comprises a rotation driving motor (61) arranged on the manipulator mounting seat (2), a rotation driving synchronous wheel (62) arranged at the output end of the rotation driving motor (61) and a rotation driven synchronous wheel (63) arranged on the hollow screw rod (3), a rotation synchronous belt (64) is wound between the rotation driving synchronous wheel (62) and the rotation driven synchronous wheel (63), and the rotation driving motor (61) can drive the hollow screw rod (3) to rotate through the rotation driving synchronous wheel (62), the rotation synchronous belt (64) and the rotation driven synchronous wheel (63);
the rotating shaft driving assembly (7) comprises an upper connector (71) fixedly arranged at the upper end part of the hollow screw rod (3) and a rotating shaft driving motor (72) arranged above the upper connector (71), the rotating shaft driving motor (72) is arranged on the upper connector (71) through a motor mounting seat (73), the upper connector (71) is a hollow connector and is internally provided with a rotating shaft upper bearing (74), the upper end of the inner rotating shaft (31) is arranged in the inner ring of the rotating shaft upper bearing (74), and a coupler (75) is arranged between the output end of the rotating shaft driving motor (72) and the upper end part of the inner rotating shaft (31);
manipulator clamping assembly (8) are including clamping assembly mounting panel (81), clamping assembly mount pad (82) and clamping assembly fixed joint (83) of fixed mounting in cavity lead screw (3) lower extreme portion, be provided with clamping assembly guide rail board (84) between clamping assembly mount pad (82) and clamping assembly fixed joint (83), clamping assembly fixed joint (83) are cavity and its inside be provided with pivot lower part bearing (85), the lower extreme of inside pivot (31) is installed the inner circle of pivot lower part bearing (85) and stretch out the below of clamping assembly fixed joint (83), the both ends of clamping assembly guide rail board (84) are provided with first clamping slide (861) and second clamping slide (862) respectively, be provided with first clamping drive rack (871) and first clamping plate (881) on first clamping slide (861), be provided with second clamping drive rack (872) and second clamping plate (881) on second clamping slide (861), the lower extreme of inside pivot (31) is installed the inner circle of pivot lower extreme bearing (85) and stretches out the below of clamping assembly fixed joint (83), the both sides of clamping assembly guide rail board (84) are provided with first clamping drive rack (871) and second clamping slide (862), second clamping drive rack (872) and second clamping rack (871) are meshed respectively The second clamping driving racks (872) are matched to form a gear rack structure, and the inner rotating shaft (31) can drive the first clamping sliding seat (861) and the second clamping sliding seat (862) to slide on the clamping assembly guide rail plate (84) through the clamping driving gears (89) and the first clamping driving racks (871) and the second clamping driving racks (872).
2. The multi-axis linkage manipulator of claim 1, wherein: the horizontal driving assembly (4) comprises a horizontal driving motor (41) arranged on the manipulator mounting seat (2) and a horizontal driving gear (42) arranged at the output end of the horizontal driving motor (41), a horizontal driving rack (43) matched with the horizontal driving gear (42) is arranged on the manipulator support frame (1), the horizontal driving gear (42) and the horizontal driving rack (43) are matched to form a gear rack structure, and the manipulator mounting seat (2) is driven by the horizontal driving motor (41) through the horizontal driving gear (42) and the horizontal driving rack (43) to slide on the horizontal guide rail (11).
3. The multi-axis linkage manipulator of claim 1, wherein: the lower part of the clamping assembly mounting seat (82) is provided with a rack side guide roller (821) and a rack bottom guide roller (822), the rack side guide roller (821) is mounted on the side part of the clamping assembly mounting seat (82) and is used for guiding the side walls of the first clamping driving rack (871) and the second clamping driving rack (872), and the rack bottom guide roller (822) is mounted at the bottom of the clamping assembly mounting seat (82) and is used for guiding the bottom walls of the first clamping driving rack (871) and the second clamping driving rack (872); the clamping adjusting plate (883) is arranged on the first clamping plate (881), and a strip-shaped adjusting hole is formed in the clamping adjusting plate (883).
4. The multi-axis linkage manipulator of claim 1, wherein: the manipulator mounting seat (2) is provided with a first mounting plate (21) and a second mounting plate (22), the first mounting plate (21) and the second mounting plate (22) are provided with a first mounting sleeve (23) and a second mounting sleeve (24), and the hollow screw rod (3) is mounted on the first mounting sleeve (23) and the second mounting sleeve (24).
5. The multi-axis linkage manipulator of claim 1, wherein: the manipulator mounting seat (2) is provided with a horizontal position sensor (25), the manipulator support frame (1) is provided with a horizontal position sensing piece matched with the horizontal position sensor (25), and the manipulator mounting seat (2) is mounted on the horizontal guide rail (11) through the horizontal guide rail sliding seat (12).
6. The multi-axis linkage manipulator of claim 1, wherein: the manipulator support frame (1) comprises two support rods (101) and is arranged on the two support rods (101)
A supporting beam (102) between the two support rods (101), a supporting foot (103) is arranged at the bottom of the support rod,
The horizontal guide rail (11) is arranged on the supporting beam (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811153785.0A CN109176495B (en) | 2018-09-30 | 2018-09-30 | Multi-axis linkage manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811153785.0A CN109176495B (en) | 2018-09-30 | 2018-09-30 | Multi-axis linkage manipulator |
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| Publication Number | Publication Date |
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| CN109176495A CN109176495A (en) | 2019-01-11 |
| CN109176495B true CN109176495B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811153785.0A Active CN109176495B (en) | 2018-09-30 | 2018-09-30 | Multi-axis linkage manipulator |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115388741B (en) * | 2022-10-26 | 2023-02-03 | 宁波双林汽车部件股份有限公司 | A beating detection device for a screw rod and a stop disc |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208962007U (en) * | 2018-09-30 | 2019-06-11 | 深圳市易通智能自动化装备制造有限公司 | A kind of multi-shaft interlocked manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101487499B1 (en) * | 2012-08-23 | 2015-01-28 | 삼성중공업 주식회사 | Riser transfer apparatus capable of transferring a plurality of risers |
| JP6486715B2 (en) * | 2015-02-25 | 2019-03-20 | 日本トムソン株式会社 | Articulated forceps |
| CN106426123B (en) * | 2016-08-31 | 2020-01-31 | 宁波伟立机器人科技有限公司 | A kind of M-type vertical walking manipulator and using method thereof |
| CN206242049U (en) * | 2016-11-24 | 2017-06-13 | 瑞安市中凯自动化科技有限公司 | Transfer robots |
| CN207482868U (en) * | 2017-10-20 | 2018-06-12 | 深圳力健创科智能科技有限公司 | A kind of pump housing feeding manipulator mechanism for pumping test equipment |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208962007U (en) * | 2018-09-30 | 2019-06-11 | 深圳市易通智能自动化装备制造有限公司 | A kind of multi-shaft interlocked manipulator |
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Effective date of registration: 20210120 Address after: 518000 Room 301, building 1, No. 9, Yongyue Road, East District, baishixia community, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN ETON AUTOMATION EQUIPMENT Co.,Ltd. Address before: 518000 2nd floor, building 44, Cuigang Industrial Zone 5, Huaide, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN ETON AUTOMATION EQUIPMENT Co.,Ltd. |
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