CN109702723A - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
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- CN109702723A CN109702723A CN201910151232.XA CN201910151232A CN109702723A CN 109702723 A CN109702723 A CN 109702723A CN 201910151232 A CN201910151232 A CN 201910151232A CN 109702723 A CN109702723 A CN 109702723A
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- driving
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- belt wheel
- screw rod
- mechanical arm
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- 230000005540 biological transmission Effects 0.000 claims description 53
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000001427 coherent effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000007789 sealing Methods 0.000 description 1
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Abstract
The present invention and robot device's technical field, refer in particular to a kind of mechanical arm, including driving pedestal, the first cursor, the second cursor and ball spline screw rod, the length of second cursor is 600mm, second cursor is provided with the first driving device for driving ball spline screw rod to rotate, the first driving device includes the first pulley connecting with the keyway of ball spline screw rod, deceleration device and first servo motor, and the first servo motor is drivingly connected via deceleration device and first pulley；The lower end of the ball spline screw rod is provided with the suction means for drawing extraneous material.The presence of deceleration device operates first servo motor under a suitable speed, and revolving speed is accurately dropped into ball spline screw rod required speed under high load, and then bigger torque is exported while improving mechanical body rigidity, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.
Description
Technical field
The present invention relates to robot device's technical fields, refer in particular to a kind of mechanical arm.
Background technique
SCARA robot is four most wide shaft industrial robots of industrial robot field application range.The robot is flat
The movement of face direction is steady, has biggish rigidity in vertical direction, can be widely applied to need efficient assembly, welding, carry,
Numerous occasions such as sealing.Its use substantially increases robot to the adaptability of complex task, while also reducing cost, mentions
It is significant to be realized that robot substitutes by high working space utilization rate for a variety of workplaces of modernization industry production line.
In recent years, SCARA robot product type both domestic and external is more diversified, it has also become one of research hotspot of robot field.
But the rotation axis of existing SCARA robot end is directly driven using servo motor, load it is big,
In the case that revolving speed is high, the transmission of servo motor is unstable, and transmission efficiency is low, and to generate operating accuracy low for the rotation of axis, holds
The ability for carrying load is poor, so that manipulator fluctuation of service and precision are poor.The defect of the problem is fairly obvious, needs one
Kind solution.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art providing a kind of simple and compact for structure, stable, work
Mechanical arm with high accuracy.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of mechanical arm provided by the invention, including driving pedestal, the first cursor, the second cursor and ball flower
Key screw rod, first cursor and driving base rotation setting, second cursor and the rotation of the first cursor are arranged, institute
It states ball spline screw rod and is movably set in the second cursor；Second cursor is provided with for driving ball spline screw rod to turn
Dynamic first driving device, the first driving device include the first pulley connecting with the keyway of ball spline screw rod, slow down
Device and first servo motor, the first servo motor are drivingly connected via deceleration device and first pulley.
It is therein, the deceleration device include decelerating motor, be set to decelerating motor output shaft the second belt wheel and set
It is placed in the third belt wheel of the output shaft of decelerating motor, the output shaft of the first servo motor is connected with the 4th belt wheel, and described
Four belt wheels are connect via the first transmission belt with the second belt wheel, and the third belt wheel is connect via the second transmission belt with first pulley.
Further, the third belt wheel is located at the lower section of the second belt wheel, and the number of teeth of the third belt wheel is less than first band
The number of teeth of wheel, the number of teeth of second belt wheel are greater than the number of teeth of the 4th belt wheel.
Therein, second cursor is provided with the second driving dress for driving ball spline screw rod to move up and down
It sets, second driving device includes the 5th belt wheel connecting with the helicla flute of ball spline screw rod, the second servo motor, setting
In the output shaft of the second servo motor the 6th belt wheel and be set around the third transmission belt of the 5th belt wheel and the 6th belt wheel.
Therein, the mechanical arm further includes being set to the lower end of ball spline screw rod and for drawing extraneous part
Suction means；The suction means includes shaft coupling piece, connect with shaft coupling piece and four support rods of interlaced setting,
It is slideably positioned in the suction nozzle of support rod and the moving drive mechanism for driving suction nozzle mobile.
Further, each support rod is correspondingly arranged on a moving drive mechanism, and the moving drive mechanism includes sliding
Motion block, driving pulley, driven pulley, the 4th transmission belt and the device of rotation driving for driving driving pulley to rotate；It is described
Support rod is provided with sliding groove, and the sliding shoe is slideably positioned in sliding groove, and the driving pulley is rotatably dispose in sliding groove
Close to one end of shaft coupling piece, the driven pulley is rotatably dispose in the other end of the sliding groove far from shaft coupling piece；Described 4th
Transmission belt is set around driving pulley and driven pulley, and a sideband of the 4th transmission belt and one end of sliding shoe connect, described
The other end of sliding shoe is equipped with through-hole, and the another side band of the 4th transmission belt is through through-hole；The suction nozzle is installed on sliding shoe.
Further, the device of rotation driving includes four first transmissions for being rotatably dispose in four support rods respectively
Tooth is rotatably dispose in shaft coupling piece and is driven the second driving cog of tooth engagement with four first, is rotatably dispose in one of branch
Strut simultaneously drives with the driving tooth of the first transmission tooth engagement and the rotation for driving driving tooth to rotate for being set to the support rod
Dynamic motor, first driving cog are connect via transmission shaft with driving pulley.
Therein, the length of second cursor is 600mm.
Therein, the driving pedestal is provided with the third driving device for drive the rotation of the first cursor, and described the
The turning end of two cursors and the first cursor is provided with the fourth drive device for driving the second cursor to rotate；Described
Three driving devices include third servo motor and first harmonic decelerator, first cursor via first harmonic decelerator with
Base rotation connection is driven, the third servo motor and first harmonic decelerator are drivingly connected.
It is therein, it is provided with fixing seat on second cursor, second harmonic retarder is provided in the fixing seat,
The ball spline screw rod is rotatably dispose in fixing seat via second harmonic retarder.
Beneficial effects of the present invention:
The ball spline screw rod of a kind of mechanical arm provided by the invention, this mechanical arm in first servo motor and slows down
Lower realize of the cooperation driving of device reliablely and stablely rotates, and the presence of deceleration device makes first servo motor in a suitable speed
The lower operating of degree, and revolving speed is accurately dropped into ball spline screw rod required speed under high load, and then improve mechanical body
Bigger torque is exported while rigid, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.
Detailed description of the invention
Fig. 1 is the schematic perspective view of mechanical arm of the invention；
Fig. 2 is the inside schematic perspective view of the second transmission arm of the invention；
Fig. 3 is the inside schematic perspective view at another visual angle of the second transmission arm of the invention；
Fig. 4 is the top view of the second transmission arm internal structure of the invention；
Fig. 5 is the cross-sectional view in Fig. 4 along line A-A；
Fig. 6 is the cross-sectional view in Fig. 4 along line B-B；
Fig. 7 is the schematic perspective view of suction means of the invention；
Fig. 8 is the cross-sectional view of suction means of the invention；
Fig. 9 is the enlarged structure schematic diagram in Fig. 7 at A；
Figure 10 is the schematic perspective view of the reverse side of suction means of the invention；
Figure 11 is the structural schematic diagram after suction means and mechanical arm assembly of the invention.
Description of symbols
1, pedestal is driven；11, first harmonic decelerator；2, the first cursor；3, the second cursor；31, the 4th driving dress
It sets；321, the 5th belt wheel；322, first pulley；323, the second servo motor；324, first servo motor；325, the 6th belt wheel；
326, the 4th belt wheel；331, third transmission belt；332, the first transmission belt；333, the second transmission belt；341, decelerating motor；342,
Three belt wheels；343, the second belt wheel；35, fixing seat；351, second harmonic retarder；4, ball spline screw rod；5- suction means；
51- shaft coupling piece；52- support rod；521- sliding groove；53- suction nozzle；541- sliding shoe；5411- through-hole；542- driving pulley；
543- driven pulley；The 4th transmission belt of 544-；The first driving cog of 551-；The second driving cog of 552-；553- driving tooth；554- transmission
Axis；555- rotational drive motor.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.The present invention is described in detail below in conjunction with attached drawing.
As shown in Figure 1 to 11, it is provided by the invention include driving pedestal 1, the first cursor 2, the second cursor 3 and
Ball spline screw rod 4, first cursor 2 are arranged with the driving rotation of pedestal 1, second cursor 3 and the first cursor 2
Rotation setting, the ball spline screw rod 4 are movably set in the second cursor 3；Second cursor 3 is provided with for driving
The first driving device that ball spline screw rod 4 rotates, the first driving device includes connecting with the keyway of ball spline screw rod 4
First pulley 322, deceleration device and first servo motor 324, the first servo motor 324 is via deceleration device and first
Belt wheel 322 is drivingly connected；The lower end of the ball spline screw rod 4 is provided with the suction means 5 for drawing extraneous material.Specifically
Ground, first pulley 322 are set in the outside of ball spline screw rod 4.
In practical applications, the ball spline screw rod 4 of this mechanical arm is in first servo motor 324 and deceleration device
Lower realize of cooperation driving reliablely and stablely rotates, and the presence of deceleration device makes first servo motor 324 in a suitable speed
Lower operating, and revolving speed is accurately dropped into the required speed under high load of ball spline screw rod 4, and then it is rigid to improve mechanical body
Property while export bigger torque, so that it is guaranteed that entire mechanical arm can more accurate, reliably be run.
In the technical scheme, the deceleration device includes decelerating motor 341, the output shaft for being set to decelerating motor 341
The second belt wheel 343 and be set to decelerating motor 341 output shaft third belt wheel 342, the first servo motor 324 it is defeated
Shaft is connected with the 4th belt wheel 326, and the 4th belt wheel 326 is connect via the first transmission belt 332 with the second belt wheel 343, described
Third belt wheel 342 is connect via the second transmission belt 333 with first pulley 322.
In practical applications, the rotation of the 4th belt wheel 326, the rotation of the 4th belt wheel 326 are driven by first servo motor 324
The first transmission belt 332 is driven to rotate, the rotation of the first transmission belt 332 just drives the second belt wheel 343 to rotate, the second belt wheel 343
Rotation drives the output shaft rotation of decelerating motor 341, and 342 turns of third belt wheel are driven under the mating reaction of decelerating motor 341
Dynamic, the rotation of third belt wheel 342 drives first pulley 322 to rotate via the second transmission belt 333, the rotation band of first pulley 322
Dynamic ball spline screw rod 4 rotates.First servo motor 324 via under the action of decelerating motor 341, transmission belt and belt wheel by power
First pulley 322 is transmitted to drive ball spline screw rod 4 steadily to rotate, the structure driven is steady, transmission ratio is accurate, work
Reliably, transmission efficiency and service life are relatively high, further improve job stability and operating accuracy of the invention.
In the technical scheme, referring to Fig. 6, the third belt wheel 342 is located at the lower section of the second belt wheel 343, the third
The number of teeth of belt wheel 342 is less than the number of teeth of first pulley 322, and the number of teeth of second belt wheel 343 is greater than the tooth of the 4th belt wheel 326
Number.Specifically, the transmission ratio of the 4th belt wheel 326 and the second belt wheel 343 is 1:4, the biography of third belt wheel 342 and first pulley 322
Dynamic ratio is 1:4, and the transmission mechanism resultant gear ratio for driving ball spline screw rod 4 to rotate is 1:16 in this way.It is achieved in ball
Spline screw rod 4 also can be rotated stably and accurately under biggish load, to improve operating accuracy of the invention.
In the technical scheme, second cursor 3 is provided with for driving that ball spline screw rod 4 moves up and down
Two driving devices, second driving device include the 5th belt wheel 321, second connecting with the helicla flute of ball spline screw rod 4
Servo motor 323, be set to the second servo motor 323 output shaft the 6th belt wheel 325 and be set around the 5th belt wheel 321 with
The third transmission belt 331 of 6th belt wheel 325.Specifically, the 5th belt wheel 321 is set in the outside of ball spline screw rod 4.It is working
When, the second servo motor 323 drives the rotation of the 6th belt wheel 325, and the rotation of the 6th belt wheel 325 drives via third transmission belt 331
The rotation of the rotation of 6th belt wheel 325, the 6th belt wheel 325 drives ball spline screw rod 4 to move up and down.The design of the structure is simple
Compact, toothed belt transmission is steady, noiseless, and transmission is accurate.
In the technical scheme, referring to Figure 11, the mechanical arm further includes being set to the lower end of ball spline screw rod 4 simultaneously
For drawing the suction means 5 of extraneous part.In practical applications, this mechanical arm extraneous taken part and is transferred to drawing
The enterprising luggage of assembling line is matched, and in order to meet production requirement, the length of second cursor 3 of this mechanical arm is 600mm.
In the technical scheme, referring to Fig. 7, the suction means 5 is connect including shaft coupling piece 51, with shaft coupling piece 51
And four support rods 52 of interlaced setting, it is slideably positioned in the suction nozzle 53 of support rod 52 and for driving suction nozzle 53 mobile
Moving drive mechanism.
Existing suction means 5 is all to be installed in sucker using by suction nozzle 53, then by the ball of sucker and this mechanical arm
Spline screw rod 4 connects, and still, the position of traditional sucker and spacing are stationarily connected on sucker, and drawing can only also use every time
In a kind of part of specified size；When needing to draw the part of other sizes, then require manual replacement another sucker or
Person manually reinstalls the position of suction nozzle 53, and the mode manually adjusted is time-consuming and laborious, greatly reduces working efficiency.And this hair
It is bright in practical applications, as shown in fig. 7, four support rods 52 are in X-shaped, drive suction nozzle 53 supporting by moving drive mechanism
It is moved on bar 52, the spacing between each suction nozzle 53 and the adjustment of position can be realized, so that this suction means 5 is not necessarily to
Artificial dismounting can realize the position of automation adjustment suction nozzle 53, to improve the using flexible and work of this mechanical arm
Efficiency.
In the technical scheme, referring to Fig. 7 to Figure 10, each support rod 52 is correspondingly arranged on a moving drive mechanism,
The moving drive mechanism includes sliding shoe 541, driving pulley 542, driven pulley 543, the 4th transmission belt 544 and is used for
The device of rotation driving for driving driving pulley 542 to rotate；The support rod 52 is provided with sliding groove 521, the sliding shoe 541
It is slideably positioned in sliding groove 521, the driving pulley 542 is rotatably dispose in sliding groove 521 close to the one of shaft coupling piece 51
End, the driven pulley 543 are rotatably dispose in the other end of the sliding groove 521 far from shaft coupling piece 51；4th transmission belt
544 are set around driving pulley 542 and driven pulley 543, a sideband of the 4th transmission belt 544 and one end of sliding shoe 541
Connection, the other end of the sliding shoe 541 are equipped with through-hole 5411, and the another side band of the 4th transmission belt 544 is through through-hole
5411；The suction nozzle 53 is installed on sliding shoe 541.
In practical applications, device of rotation driving drives the driving pulley 542 of four support rods 52 to rotate simultaneously, main belt
The rotation of wheel 542 drives the 4th transmission belt 544 to move in sliding groove 521 around 542 driven pulleys 543 of driving pulley, the
The movement of four transmission belts 544 just drives sliding shoe 541 to move in sliding groove 521, and the movement of sliding shoe 541 just drives suction nozzle
53 move along sliding groove 521, are achieved in the position adjust automatically of suction nozzle 53.Preferably, the device of rotation driving
Including being rotatably dispose in four the first driving cogs 551 of four support rods 52 respectively, being rotatably dispose in shaft coupling piece 51 and with four
The second driving cog 552 that a first driving cog 551 engages, be rotatably dispose in one of support rod 52 and be set to the branch
The driving tooth 553 that first driving cog 551 of strut 52 engages and the rotational drive motor for driving driving tooth 553 to rotate
555, first driving cog 551 is connect via transmission shaft 554 with driving pulley 542.Specifically, the rotational drive motor
555 be servo motor；.At work, rotational drive motor 555 drives driving tooth 553 to rotate, and the rotation of driving tooth 553 drives
The rotation of first driving cog 551, the rotation of the first driving cog 551 drive driving pulley 542 to rotate, the rotation of driving pulley 542 into
And drive suction nozzle 53 mobile；While driving tooth 553 drives one of them first driving cog 551 to rotate, the first driving cog 551
Rotation drive the rotation of the second driving cog 552, the rotation of the second driving cog 552 just drives remaining three the first driving cogs 551
Rotation, and then drive its excess-three suction nozzle 53 while movement.The structure design of the moving drive mechanism is simple ingenious and compact, passes
Dynamic stability, high transmission accuracy, the movement of suction nozzle 53 is noiseless, under the mating reaction of servo motor, gear and transmission belt, suction nozzle
53 mobile precision can reach 0.1mm, so that this mechanical arm is suitable for more accurate part and processes.
In the technical scheme, the driving pedestal 1 is provided with the third driving for driving the first cursor 2 to rotate
The turning end of device, second cursor 3 and the first cursor 2 is provided with the 4th for driving the rotation of the second cursor 3
Driving device 31.
Preferably, the third driving device includes that third servo motor (not indicating in figure) and first harmonic subtract
Fast device 11, first cursor 2 are rotatablely connected via first harmonic decelerator 11 and driving pedestal 1, the third servo electricity
Machine and first harmonic decelerator 11 are drivingly connected.Specifically, the structure of the fourth drive device 31 and third driving device
Structure is identical.First cursor 2 and the second cursor 3 accurately can be such that mechanical arm subtracts under the action of harmonic speed reducer
Speed improves its transmission accuracy, and then realizes that mechanical arm accurately positions.
In the technical scheme, referring to figs. 2 and 3, fixing seat 35, the fixation are provided on second cursor 33
Second harmonic retarder 351 is provided on seat 35, the ball spline screw rod 4 runs through second harmonic retarder 351 and fixing seat
35, ball spline screw rod 4 is slidably matched with second harmonic retarder 351, fixing seat 35 respectively.The second harmonic retarder 351
Effect it is identical as the effect of first harmonic decelerator 11, repeat no more herein.
The above is only present pre-ferred embodiments, is not intended to limit the present invention in any form, although
The present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, but without departing from the technical solutions of the present invention, technology refers to above embodiments according to the present invention
Made any simple modification, equivalent change and modification, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of mechanical arm, it is characterised in that: including driving pedestal, the first cursor, the second cursor and ball spline
Screw rod, first cursor and driving base rotation setting, second cursor and the rotation of the first cursor are arranged, described
Ball spline screw rod is movably set in the second cursor；Second cursor is provided with for driving ball spline screw rod to rotate
First driving device, the first driving device include the first pulley being connect with the keyway of ball spline screw rod, slow down dress
It sets and first servo motor, the first servo motor is drivingly connected via deceleration device and first pulley.
2. a kind of mechanical arm according to claim 1, it is characterised in that: the deceleration device includes decelerating motor, sets
It is placed in the second belt wheel of the output shaft of decelerating motor and is set to the third belt wheel of the output shaft of decelerating motor, first servo
The output shaft of motor is connected with the 4th belt wheel, and the 4th belt wheel is connect via the first transmission belt with the second belt wheel, the third
Belt wheel is connect via the second transmission belt with first pulley.
3. a kind of mechanical arm according to claim 2, it is characterised in that: the third belt wheel is located under the second belt wheel
Side, the number of teeth of the third belt wheel are less than the number of teeth of first pulley, and the number of teeth of second belt wheel is greater than the number of teeth of the 4th belt wheel.
4. a kind of mechanical arm according to claim 1, it is characterised in that: second cursor is provided with for driving
The second driving device that ball spline screw rod moves up and down, second driving device include the helicla flute with ball spline screw rod
5th belt wheel of connection, the second servo motor, be set to the second servo motor output shaft the 6th belt wheel and be set around the
The third transmission belt of five belt wheels and the 6th belt wheel.
5. a kind of mechanical arm according to claim 1, it is characterised in that: the mechanical arm further includes being set to ball
The lower end of spline screw rod and the suction means for being used to draw extraneous part；The suction means include shaft coupling piece, with axis connect
Fitting connection and four support rods of interlaced setting are slideably positioned in the suction nozzle of support rod and for driving suction nozzle mobile
Moving drive mechanism.
6. a kind of mechanical arm according to claim 5, it is characterised in that: each support rod is correspondingly arranged on a movement
Driving mechanism, the moving drive mechanism include sliding shoe, driving pulley, driven pulley, the 4th transmission belt and for driving
The device of rotation driving of driving pulley rotation；The support rod is provided with sliding groove, and the sliding shoe is slideably positioned in sliding groove
Interior, the driving pulley is rotatably dispose in the one end of sliding groove close to shaft coupling piece, and the driven pulley is rotatably dispose in sliding
The other end of the slot far from shaft coupling piece；4th transmission belt is set around driving pulley and driven pulley, the 4th transmission belt
A sideband and one end of sliding shoe connect, the other end of the sliding shoe is equipped with through-hole, and the another side of the 4th transmission belt is coherent
It is through at through-hole；The suction nozzle is installed on sliding shoe.
7. a kind of mechanical arm according to claim 6, it is characterised in that: the device of rotation driving includes rotating respectively
Four the first driving cogs of four support rods are set to, shaft coupling piece is rotatably dispose in and are driven the of tooth engagement with four first
Two driving cogs, be rotatably dispose in one of support rod and be set to the support rod first transmission tooth engagement driving tooth with
And the rotational drive motor for driving driving tooth to rotate, first driving cog are connect via transmission shaft with driving pulley.
8. a kind of mechanical arm according to claim 1, it is characterised in that: the length of second cursor is 600mm.
9. a kind of mechanical arm according to claim 1, it is characterised in that: the driving pedestal is provided with for driving the
The third driving device of one cursor rotation, the turning end of second cursor and the first cursor are provided with for driving the
The fourth drive device of two cursors rotation；The third driving device includes third servo motor and first harmonic decelerator,
First cursor is connect via first harmonic decelerator with driving base rotation, the third servo motor and first harmonic
Retarder is drivingly connected.
10. a kind of mechanical arm according to claim 1, it is characterised in that: be provided with fixation on second cursor
, second harmonic retarder is provided in the fixing seat, the ball spline screw rod runs through second harmonic retarder and fixation
Seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151232.XA CN109702723A (en) | 2019-02-28 | 2019-02-28 | A kind of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151232.XA CN109702723A (en) | 2019-02-28 | 2019-02-28 | A kind of mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN109702723A true CN109702723A (en) | 2019-05-03 |
Family
ID=66265932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910151232.XA Pending CN109702723A (en) | 2019-02-28 | 2019-02-28 | A kind of mechanical arm |
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| Country | Link |
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| CN (1) | CN109702723A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113116683A (en) * | 2019-12-31 | 2021-07-16 | 深圳市奇诺动力科技有限公司 | Power module and auxiliary walking robot |
| CN114131495A (en) * | 2021-12-03 | 2022-03-04 | 深圳市德龙智能高科技有限公司 | Bent pipe polishing device and polishing method thereof |
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| CN203282493U (en) * | 2013-04-27 | 2013-11-13 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN203738794U (en) * | 2014-02-18 | 2014-07-30 | 金华中科志联智能技术有限公司 | Mechanical arm high in stability and accurate in positioning |
| CN104400782A (en) * | 2014-09-29 | 2015-03-11 | 格兰达技术（深圳）有限公司 | Openable manipulator for precisely grabbing and releasing small regularly-shaped materials |
| CN204295689U (en) * | 2014-11-24 | 2015-04-29 | 东莞市智赢智能装备有限公司 | Deceleration system four axle robot |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN206277414U (en) * | 2016-11-08 | 2017-06-27 | 珠海迪尔医疗设备研究院有限公司 | A kind of Medical mechanical hand |
| CN206455659U (en) * | 2016-12-05 | 2017-09-01 | 安徽欢颜机器人有限公司 | A kind of SCARA robots |
| CN107263518A (en) * | 2017-05-31 | 2017-10-20 | 嘉善宝狐服饰有限公司 | A kind of adjustable mechanical hand |
| CN209648728U (en) * | 2019-02-28 | 2019-11-19 | 广东力顺源智能自动化有限公司 | A kind of mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113116683A (en) * | 2019-12-31 | 2021-07-16 | 深圳市奇诺动力科技有限公司 | Power module and auxiliary walking robot |
| CN113116683B (en) * | 2019-12-31 | 2022-03-08 | 深圳市奇诺动力科技有限公司 | Power module and auxiliary walking robot |
| CN114131495A (en) * | 2021-12-03 | 2022-03-04 | 深圳市德龙智能高科技有限公司 | Bent pipe polishing device and polishing method thereof |
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