CN109623789B - Gravity compensation device and robot - Google Patents
Gravity compensation device and robot Download PDFInfo
- Publication number
- CN109623789B CN109623789B CN201910006935.3A CN201910006935A CN109623789B CN 109623789 B CN109623789 B CN 109623789B CN 201910006935 A CN201910006935 A CN 201910006935A CN 109623789 B CN109623789 B CN 109623789B
- Authority
- CN
- China
- Prior art keywords
- belt pulley
- swing arm
- belt
- execution end
- mounting plates
- 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.)
- Active
Links
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a gravity compensation device and a robot, wherein the robot is provided with the gravity compensation device, the gravity compensation device comprises a first execution end, a second execution end and a swing arm, the first execution end is provided with a driving shaft and a driving motor which is connected with the driving shaft in a transmission way, one end of the swing arm is fixed on the driving shaft, the other end of the swing arm is pivoted with a linkage shaft which is parallel to the driving shaft, the second execution end is fixedly arranged on the linkage shaft, a first belt pulley is fixedly arranged on the driving shaft, a second belt pulley is fixedly arranged on the linkage shaft, and belts are sleeved on the first belt pulley and the second belt pulley. Compared with the traditional structure, the gravity compensation device of the application performs gravity compensation in a mechanical way, thereby being beneficial to reducing the production cost.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a gravity compensation device and a robot using the same.
Background
With the increasing maturity of automation technology, the degree of automation in industrial production processes is also becoming higher. Automation in industrial processes is mostly achieved by robots (also called manipulators). In the motion process of the mechanical arm of the robot, gravity can influence the mechanical arm, so that the actual motion quantity of the mechanical arm deviates from a theoretical value, and therefore, the robot on the market generally performs gravity compensation through a related algorithm to eliminate the deviation. The mode realizes gravity compensation by running an algorithm through software and feeding back to a related motor, so that the structural composition is increased, and the cost is increased.
Disclosure of Invention
In order to solve the problems, the application provides a device for carrying out gravity compensation in a mechanical mode and a robot adopting the device.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a gravity compensation device, includes first execution end, second execution end and swing arm, be provided with the driving motor of drive shaft and transmission connection drive shaft on the first execution end, the one end of swing arm is fixed in the drive shaft, the other end pivot is equipped with the universal driving shaft that is on a parallel with the drive shaft, second execution end fixed mounting is on the universal driving shaft, fixed mounting has first belt pulley in the drive shaft, fixed mounting has the second belt pulley in the universal driving shaft, the cover is equipped with the belt on first belt pulley and the second belt pulley.
Preferably, the swing arm wraps the first belt pulley, the second belt pulley and the belt.
Preferably, the swing arm has two parallel alignment and keeps the mounting panel of certain interval, and is fixed through coupling mechanism between two mounting panels, drive shaft and universal driving shaft set up respectively in the both ends of two mounting panels, first belt pulley, second belt pulley and belt are located between two mounting panels.
Preferably, the connecting mechanism is provided with a plurality of connecting rods, the connecting rods are distributed between the driving shaft and the linkage shaft, and two ends of the connecting rods are respectively and fixedly connected with a mounting plate.
Preferably, the driving motor is located between the two mounting plates.
Preferably, the first executing end is pivoted with the driving shaft between the two mounting plates and/or at the outer sides of the two mounting plates, and the second executing end is fixedly connected with the linkage shaft between the two mounting plates and/or at the outer sides of the two mounting plates.
A robot is provided with the gravity compensation device.
The beneficial effects of the application are as follows: the first belt pulley fixed relative to the swing arm is sleeved at one end of the belt, the second belt pulley pivoted on the swing arm and fixed relative to the second execution end is sleeved at the other end of the belt, when the driving motor on the first execution end controls the swing arm to rotate so as to drive the second execution end to move, the acting force of gravity on the second execution end can drive the second belt pulley to rotate, and then the belt is pulled through the second belt pulley, however, the first belt pulley at the other end of the belt is fixed relative to the swing arm, so that the pulling of the belt can be limited, the influence of gravity on the second execution end is overcome, and meanwhile, when the swing arm rotates, the first belt pulley rotates along with the belt, a traction force opposite to the gravity action is applied to the belt, and gravity compensation is realized by matching the two belt pulleys.
Drawings
The application is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic view of a first view of the present application;
fig. 2 is a schematic structural view of the second view of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application.
Referring to fig. 1-2, the application is a gravity compensation device, comprising a first executing end 1, a second executing end 3 and a swing arm 2, wherein the first executing end 1 is provided with a driving shaft and a driving motor 8 connected with the driving shaft in a transmission way, one end of the swing arm 2 is fixed on the driving shaft, the other end is pivoted with a linkage shaft parallel to the driving shaft, the second executing end 3 is fixedly arranged on the linkage shaft, a first belt pulley 11 is fixedly arranged on the driving shaft, a second belt pulley 10 is fixedly arranged on the linkage shaft, and a belt 9 is sleeved on the first belt pulley 11 and the second belt pulley 10. Grooves are provided in the first pulley 11 and the second pulley 10 for the purpose of fitting the belt 9.
Wherein the first pulley 11, the second pulley 10 and the belt 9 may be disposed outside the swing arm 2, but the first pulley 11, the second pulley 10 and the belt 9 are covered by the swing arm 2 in the present embodiment for the sake of integrity. Specifically, the swing arm 2 has two parallel aligned mounting plates 7 that keep a certain interval, and is fixed through coupling mechanism between two mounting plates 7, drive shaft and universal driving shaft set up respectively in the both ends of two mounting plates 7, first belt pulley 11, second belt pulley 10 and belt 9 are located between two mounting plates 7. And the diameters of the first pulley 11 and the second pulley 10 are smaller than or equal to the width of the mounting plate 7 so as not to be visible on the side of the mounting plate 7.
The first preferred embodiment of the connecting mechanism is: the connecting mechanism is provided with a plurality of connecting rods 13, a plurality of connecting rods 13 are distributed between the driving shaft and the linkage shaft, and two ends of the connecting rods are respectively and fixedly connected with a mounting plate 7. In this way, the two mounting plates 7 are fixed by the connecting rod 13, the structural strength is high, and the connecting rod 13 is positioned between the driving shaft and the linkage shaft, so that the mounting of the first execution end 1 and the second execution end 3 is not affected.
The second preferred embodiment of the connecting mechanism is: the connecting mechanism is provided with a connecting seat, and two sides of the connecting seat are respectively and fixedly connected with a mounting plate 7, so that two mounting plates 7 are fixed.
With this swing arm 2 structure looks adaptation, driving motor 8 is located between two mounting panels 7 to the rational utilization space is not used for, reduces the volume. The driving shaft and the linkage shaft in the embodiment can be set as an integral type or a split type according to actual needs, the integral type is a driving shaft penetrating through the two mounting plates 7 and a linkage shaft penetrating through the two mounting plates 7, the split type is that two pairs of coaxial shaft sections are arranged on the two mounting plates 7, one pair of shaft sections form the linkage shaft, and the other pair of shaft sections form the driving shaft. The first executing end 1 is pivoted with a driving shaft between the two mounting plates 7 and/or outside the two mounting plates 7, and the second executing end 3 is fixedly connected with a linkage shaft between the two mounting plates 7 and/or outside the two mounting plates 7.
As shown in the figure, the driving shaft in this embodiment is split, and the linkage shaft is integral. The first executing end 1 is fixedly provided with a mounting mechanism, the mounting mechanism is provided with two cantilevers 12 fixedly mounted on the first executing end 1, one cantilever 12 is positioned on the outer sides of the two mounting plates 7, the other cantilever 12 is positioned on the inner sides of the two mounting plates 7, the cantilever 12 positioned on the outer side is pivoted with the mounting plate 7 closest to the outer side through a shaft section, the driving motor 8 is fixedly mounted on the cantilever 12 positioned between the two mounting plates 7, so that the cantilever 12 is positioned between the two mounting plates 7, the cantilever 12 is pivoted with the other mounting plate 7 through a shaft section, and the driving motor 8 is in transmission connection with the shaft section. Correspondingly, the first pulley 11 is fixedly arranged on the inner side of the mounting plate 7 pivoted with the outer cantilever 12. The second actuating end 3 is provided with a pair of connecting arms 6 extending outside the two mounting plates 7, a linkage shaft is arranged between the connecting arms 6 and the two mounting plates 7 in a penetrating way, and the second belt pulley 10 is fixed on the linkage shaft by pins or other known structures/modes and is positioned on the same vertical plane with the first belt pulley 11.
So, because when driving motor 8 control second execution end 3 and swing arm 2 motion, first execution end 1 needs to bear its weight, can effectively strengthen structural strength through the installation mechanism of above-mentioned structure, avoid the joint inefficacy to the length of driving motor 8 output shaft has been shortened to the mode that sets up driving motor 8 in the mounting panel 7 outside, is favorable to guaranteeing driven stability. The integral type linkage shaft is beneficial to simplifying the structure on the basis of the functions, simplifying the installation, and has scientific and reasonable structure composition and strong practicability.
The working mechanism of the gravity compensation device in this embodiment is as follows: the first belt pulley 11 fixed relative to the swing arm 2 is sleeved at one end of the belt 9, the second belt pulley 10 pivoted on the swing arm 2 and fixed relative to the second execution end 3 is sleeved at the other end of the belt 9, when the driving motor 8 on the first execution end 1 controls the swing arm 2 to rotate so as to drive the second execution end 3 to move, the acting force of gravity on the second execution end 3 can drive the second belt pulley 10 to rotate, and then the belt 9 is pulled through the second belt pulley 10, however, the first belt pulley 11 at the other end of the belt 9 is fixed relative to the swing arm 2, the pulling of the belt 9 can be limited, so that the influence of gravity on the second execution end 3 is overcome, and meanwhile, when the swing arm 2 rotates, the first belt pulley 11 rotates along with the swing arm, a traction force opposite to the gravity is applied to the belt 9, and compared with the traditional structure, the gravity compensation is realized through the mechanical mode, so that the production cost is reduced.
The gravity compensation device in this embodiment may be used as a basic joint assembly, and one or more gravity compensation devices may be provided as needed during the production process. In order to realize any combination of the number of the first executing ends 1 and the second executing ends 3 in the embodiment are set to be of the same structure, each of the first executing ends and the second executing ends comprises a mounting seat 5 and a rotating seat 4 rotatably arranged on the mounting seat 5, a mounting position of a mounting mechanism is reserved on the rotating seat 4, and a mounting position of a connecting arm 6 is reserved at the lower end of the mounting seat 5. In this way, during the use process or the production process, one or more gravity compensation devices with the structure can be flexibly spliced according to the requirement.
The embodiment further discloses a robot which is provided with the gravity compensation device with the structure. Because the gravity compensation device with the structure is arranged on the robot, the gravity compensation can be carried out in a mechanical mode, so that algorithm compensation is not needed, the running load of a robot system is lightened, the control process of a driving motor 8 is simplified, the running of a program is reduced, the production cost is reduced, the stability of the robot in the running process is improved, and the service life is prolonged.
The above examples are only preferred embodiments of the application, and other embodiments of the application are possible. Equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these equivalent modifications or substitutions are intended to be included within the scope of the present application as set forth in the following claims.
Claims (2)
1. The gravity compensation device is characterized by comprising a first execution end, a second execution end and a swing arm, wherein the first execution end is provided with a driving shaft and a driving motor in transmission connection with the driving shaft, one end of the swing arm is fixed on the driving shaft, the other end of the swing arm is pivoted with a linkage shaft parallel to the driving shaft, the second execution end is fixedly arranged on the linkage shaft, a first belt pulley is fixedly arranged on the driving shaft, a second belt pulley is fixedly arranged on the linkage shaft, and belts are sleeved on the first belt pulley and the second belt pulley;
the swing arm wraps the first belt pulley, the second belt pulley and the belt;
the swing arm is provided with two mounting plates which are aligned in parallel and keep a certain distance, the two mounting plates are fixed through a connecting mechanism, the driving shaft and the linkage shaft are respectively arranged at two ends of the two mounting plates, and the first belt pulley, the second belt pulley and the belt are positioned between the two mounting plates;
the connecting mechanism is provided with a plurality of connecting rods, the connecting rods are distributed between the driving shaft and the linkage shaft, and two ends of the connecting rods are respectively and fixedly connected with a mounting plate;
the driving motor is positioned between the two mounting plates;
the first execution end is pivoted with a driving shaft between two mounting plates and/or outside the two mounting plates, and the second execution end is fixedly connected with a linkage shaft between two mounting plates and/or outside the two mounting plates;
the first belt pulley fixed relative to the swing arm is sleeved at one end of the belt, the second belt pulley pivoted on the swing arm and fixed relative to the second execution end is sleeved at the other end of the belt, when the driving motor on the first execution end controls the swing arm to rotate so as to drive the second execution end to move, the acting force of gravity on the second execution end can drive the second belt pulley to rotate, and then the belt is pulled through the second belt pulley, however, the first belt pulley at the other end of the belt is fixed relative to the swing arm, the pulling of the belt can be limited, so that the influence of gravity on the second execution end is overcome, and meanwhile, when the swing arm rotates, the first belt pulley rotates along with the swing arm, a traction force opposite to the gravity action can be applied to the belt, and the two are matched to realize gravity compensation.
2. A robot having the gravity compensation device according to claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006935.3A CN109623789B (en) | 2019-01-04 | 2019-01-04 | Gravity compensation device and robot |
| ZA2019/08570A ZA201908570B (en) | 2019-01-04 | 2019-12-23 | Gravity compensating device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006935.3A CN109623789B (en) | 2019-01-04 | 2019-01-04 | Gravity compensation device and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109623789A CN109623789A (en) | 2019-04-16 |
| CN109623789B true CN109623789B (en) | 2023-10-17 |
Family
ID=66056739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910006935.3A Active CN109623789B (en) | 2019-01-04 | 2019-01-04 | Gravity compensation device and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109623789B (en) |
| ZA (1) | ZA201908570B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110404157A (en) * | 2019-08-03 | 2019-11-05 | 安徽工程大学 | A kind of robot sinusoidal elastic force amplifying moment compensation device and method |
| CN111596569B (en) * | 2020-05-22 | 2021-08-17 | 上海交通大学 | Multifunctional patrol instrument semi-physical simulation system and method |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190227181A (en) * | 1902-12-09 | 1903-02-19 | Rudolf Leopold Loui Hundhausen | Improvements in Belt and Friction Driving Gear for Machinery. |
| US4500251A (en) * | 1982-02-05 | 1985-02-19 | Mitsubishi Denki Kabushiki Kaisha | Multijoint manipulator |
| JPH0552194U (en) * | 1991-12-20 | 1993-07-09 | 有限会社ウチダ技研 | Balance shutter |
| CN102320040A (en) * | 2011-08-11 | 2012-01-18 | 南昌大学 | Force feedback interactive device for automatically regulating balance of dead weight |
| CN104029198A (en) * | 2013-07-27 | 2014-09-10 | 昆山昊旺机械有限公司 | Manipulator |
| CN203877472U (en) * | 2014-03-31 | 2014-10-15 | 山西晋城无烟煤矿业集团有限责任公司 | Belt conveyor transferring point V-type buffering chute |
| CN104467339A (en) * | 2014-10-28 | 2015-03-25 | 南京赛梵电气科技有限公司 | Linear vibration motor with gravity compensation function |
| TW201538291A (en) * | 2014-04-01 | 2015-10-16 | Univ Nat Chiao Tung | An adjustable gravity compensation device |
| CN105619449A (en) * | 2016-01-18 | 2016-06-01 | 南昌大学 | Zero-free length spring gravity compensation method based on force feedback equipment |
| CN105881585A (en) * | 2015-02-12 | 2016-08-24 | 高丽大学校产学协力团 | Counterbalancing Linkage Mechanism |
| CN106363666A (en) * | 2016-12-06 | 2017-02-01 | 希美埃（芜湖）机器人技术有限公司 | Robot arm gravity balance device |
| CN106379432A (en) * | 2016-09-29 | 2017-02-08 | 浙江工业职业技术学院 | Single-leg jump mechanism based on Fourier non-circular gear drive |
| KR20170089729A (en) * | 2016-01-27 | 2017-08-04 | 영남대학교 산학협력단 | Robot arm with gravity compensation mechanism |
| CN107946387A (en) * | 2017-12-19 | 2018-04-20 | 电子科技大学中山学院 | Novel annealing mode of CZTS film |
| CN108058187A (en) * | 2016-11-09 | 2018-05-22 | 株式会社东芝 | Arm constructs and handling device |
| KR20180097432A (en) * | 2017-02-23 | 2018-08-31 | 고려대학교 산학협력단 | Position holding apparatus based on passive gravity compensation |
| CN209615496U (en) * | 2019-01-04 | 2019-11-12 | 电子科技大学中山学院 | A kind of gravity-compensated device and robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012208448A1 (en) * | 2012-05-21 | 2013-11-21 | Kuka Roboter Gmbh | Industrial robot with drives in a base housing |
| KR101943440B1 (en) * | 2017-03-20 | 2019-01-30 | 한국과학기술연구원 | Guiding apparatus for remote medical treatments |
-
2019
- 2019-01-04 CN CN201910006935.3A patent/CN109623789B/en active Active
- 2019-12-23 ZA ZA2019/08570A patent/ZA201908570B/en unknown
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190227181A (en) * | 1902-12-09 | 1903-02-19 | Rudolf Leopold Loui Hundhausen | Improvements in Belt and Friction Driving Gear for Machinery. |
| US4500251A (en) * | 1982-02-05 | 1985-02-19 | Mitsubishi Denki Kabushiki Kaisha | Multijoint manipulator |
| JPH0552194U (en) * | 1991-12-20 | 1993-07-09 | 有限会社ウチダ技研 | Balance shutter |
| CN102320040A (en) * | 2011-08-11 | 2012-01-18 | 南昌大学 | Force feedback interactive device for automatically regulating balance of dead weight |
| CN104029198A (en) * | 2013-07-27 | 2014-09-10 | 昆山昊旺机械有限公司 | Manipulator |
| CN203877472U (en) * | 2014-03-31 | 2014-10-15 | 山西晋城无烟煤矿业集团有限责任公司 | Belt conveyor transferring point V-type buffering chute |
| TW201538291A (en) * | 2014-04-01 | 2015-10-16 | Univ Nat Chiao Tung | An adjustable gravity compensation device |
| CN104467339A (en) * | 2014-10-28 | 2015-03-25 | 南京赛梵电气科技有限公司 | Linear vibration motor with gravity compensation function |
| CN105881585A (en) * | 2015-02-12 | 2016-08-24 | 高丽大学校产学协力团 | Counterbalancing Linkage Mechanism |
| CN105619449A (en) * | 2016-01-18 | 2016-06-01 | 南昌大学 | Zero-free length spring gravity compensation method based on force feedback equipment |
| KR20170089729A (en) * | 2016-01-27 | 2017-08-04 | 영남대학교 산학협력단 | Robot arm with gravity compensation mechanism |
| CN106379432A (en) * | 2016-09-29 | 2017-02-08 | 浙江工业职业技术学院 | Single-leg jump mechanism based on Fourier non-circular gear drive |
| CN108058187A (en) * | 2016-11-09 | 2018-05-22 | 株式会社东芝 | Arm constructs and handling device |
| CN106363666A (en) * | 2016-12-06 | 2017-02-01 | 希美埃（芜湖）机器人技术有限公司 | Robot arm gravity balance device |
| KR20180097432A (en) * | 2017-02-23 | 2018-08-31 | 고려대학교 산학협력단 | Position holding apparatus based on passive gravity compensation |
| CN107946387A (en) * | 2017-12-19 | 2018-04-20 | 电子科技大学中山学院 | Novel annealing mode of CZTS film |
| CN209615496U (en) * | 2019-01-04 | 2019-11-12 | 电子科技大学中山学院 | A kind of gravity-compensated device and robot |
Non-Patent Citations (1)
| Title |
|---|
| 汪菁.中国博士学位论文全文数据库.滑轮绳索多体系统的动力学建模与仿真研究,2018,第9（2018）期C029-2. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623789A (en) | 2019-04-16 |
| ZA201908570B (en) | 2022-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8234949B2 (en) | Power transmission mechanism and robot arm using the same | |
| CN109623789B (en) | Gravity compensation device and robot | |
| CN103722552B (en) | A kind of controllable multi-degree-of-freedom manipulator | |
| CN201458605U (en) | Turnover weight balance mechanism for lorry-mounted crane | |
| CN113246090B (en) | Master-slave manipulator and operation room in nuclear industry | |
| CN112917509B (en) | Three-degree-of-freedom mechanical arm driven based on spherical parallel mechanism | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN111037545B (en) | Rope drives formula arm of establishing ties | |
| CN219854615U (en) | High mechanical arm tongs of stability | |
| CN209615496U (en) | A kind of gravity-compensated device and robot | |
| CN102990674B (en) | A/B shaft parallel mechanism | |
| CN102605958A (en) | Cantilever crane device and engineering machinery | |
| CN112975931A (en) | Connecting rod type robot head movement mechanism | |
| CN207943137U (en) | A kind of Contiuum type motorcycle swinging rear fork assembly with motor drive | |
| CN112757282A (en) | Heavy-load robot driven in parallel | |
| CN217456166U (en) | Leg structure based on line transmission and robot | |
| CN217751426U (en) | Robot and transmission mechanism thereof | |
| CN207161661U (en) | Arrangements for speed regulation, cleaning plant and harvester | |
| CN209533381U (en) | A kind of micromachine arm | |
| CN1987154A (en) | Mechanical driving device | |
| CN218875503U (en) | Mechanical arm transmission structure | |
| CN221135879U (en) | Modularized mechanical arm control module | |
| CN221186521U (en) | Two-axis parallel robot | |
| CN219232159U (en) | High-efficient three-dimensional motion mixes machine | |
| CN219504802U (en) | Mechanical arm with telescopic joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |