CN109760029A - Flat single-arm robot based on synchronous pulley drive - Google Patents
Flat single-arm robot based on synchronous pulley drive Download PDFInfo
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- CN109760029A CN109760029A CN201910226344.7A CN201910226344A CN109760029A CN 109760029 A CN109760029 A CN 109760029A CN 201910226344 A CN201910226344 A CN 201910226344A CN 109760029 A CN109760029 A CN 109760029A
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Abstract
The invention discloses a kind of platypelloid type one armed robot based on synchronous belt pulley transmission, is related to robot field.Including SCARA mechanical arm, the SCARA mechanical arm includes forearm, middle arm, last arm, forearm transmission mechanism, middle arm transmission mechanism, last arm transmission mechanism；The forearm, middle arm, last arm are set gradually from front to back；The forearm transmission mechanism is primary transmission mechanism, and the output shaft of motor connects the shaft of the forearm by one group of synchronous pulley；The middle arm transmission mechanism is secondary drive mechanism, and the output shaft of motor connects the shaft of the middle arm by the successively transmitting of two groups of synchronous pulleys；The end arm transmission mechanism is three-level transmission mechanism, and the output shaft of motor connects the last arm by the successively transmitting of three groups of synchronous pulleys.The present invention has the advantages that mechanical arm can be made to be that rotation angle is unrestricted and reduce the volume of mechanical arm.
Description
Technical field
The present invention relates to robot field more particularly to a kind of platypelloid type one armed robots based on synchronous belt pulley transmission.
Background technique
The freedom degree there are three rotary freedom and a vertical direction is gathered around by plane articulation type SCARA robot, can be in water
Quickly assignment is completed in positioning in plane, is particularly suitable for assembly printed circuit board and electronic component, is moved and pick and place integrated
The work such as circuit board are widely used in plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry etc.
Field.
Traditional SCARA robot is driven using straight drive mode, has the characteristics that low-cost, but motor is located at often
A intra-articular, cable routing makes joint rotation angle limited；Last arm is larger in vertical space upper volume, can not be suitable for work
The lesser occasion in space；The straight kind of drive of driving makes robot end's vibration larger, is unable to satisfy high accuracy positioning requirement
Occasion, such as wafer loading and unloading.And the SCARA robot of the occasions such as oriented wafer loading and unloading has flat structure, high-performance etc. excellent
Point, but its structure depends on expensive torque motor and harmonic wave speed reducing machine.
It is therefore proposed that the SCARA robot technology scheme with high-performance, thin arm and low cost, for intelligence manufacture skill
Art development is of great significance.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind the rotation angle of mechanical arm can be made unrestricted and
Reduce the platypelloid type one armed robot based on synchronous belt pulley transmission of the volume of mechanical arm.
The present invention is to solve above-mentioned technical problem: the platypelloid type list based on synchronous belt pulley transmission by the following technical programs
Arm robot, including SCARA mechanical arm (1), the SCARA mechanical arm (1) includes forearm (4), middle arm (5), last arm (6), preceding
Arm transmission mechanism (7), middle arm transmission mechanism (8), last arm transmission mechanism (9)；The forearm (4), middle arm (5), last arm (6) are in the past
It is set gradually after；The forearm transmission mechanism (7) is primary transmission mechanism, and the output shaft of motor passes through one group of synchronous pulley
The shaft for connecting the forearm (4) drives the forearm (4) to rotate；The middle arm transmission mechanism (8) is secondary drive mechanism,
The output shaft of its motor connects the shaft of the middle arm (5) by the successively transmitting of two groups of synchronous pulleys, drives the middle arm (5)
Rotation；The end arm transmission mechanism (9) is three-level transmission mechanism, and the output shaft of motor passes through the successively biography of three groups of synchronous pulleys
The connection last arm (6) is passed, the last arm (6) is driven to rotate.
Realize that Multi-stage transmission, synchronous belt have certain damping effect, mechanical arm tail end vibration by belt wheel and synchronous belt
It is small；The motor of mechanical arm is respectively positioned on the outside of mechanical arm, and cable bus is easy, and keeps the rotation angle of mechanical arm unrestricted；It passes
Motivation structure occupies little space, and reduces the volume of mechanical arm, and mechanical arm is in flat, thin arm configuration, can be limited field in vertical space
Close work；Transmission mechanism can be made of cheap standard component, and maintenance of motor is easy, and is reduced costs.
As the technical solution of optimization, the forearm transmission mechanism (7) includes forearm motor (7a), forearm belt wheel group
(7b), forearm synchronous belt (7c), forearm shaft (7d), forearm bearing (7e)；The forearm belt wheel group (7b) includes two belt wheels,
The forearm synchronous belt (7c) is wound on except two belt wheels and two belt wheels links together；The output of the forearm motor (7a)
Axis is mounted on the inner ring of one of belt wheel of the forearm belt wheel group (7b)；One end of the forearm shaft (7d) is mounted on institute
The inner ring of another belt wheel of forearm belt wheel group (7b) is stated, middle part is mounted on the inner ring of the forearm bearing (7e), and the other end is set
There is connection structure；
The middle arm transmission mechanism (8) includes middle arm motor (8a), middle arm first pulley group (8b), the first synchronous belt of middle arm
(8c), middle arm first rotating shaft (8d), middle arm first bearing (8e), middle arm the second belt wheel group (8f), the second synchronous belt of middle arm (8g),
Middle the second shaft of arm (8h), middle arm second bearing (8i)；Described middle arm first bearing (8e) totally two；Middle arm first pulley group
(8b) includes two belt wheels, and one of belt wheel is installed therein the inner ring of a middle arm first bearing (8e), the middle arm the
One synchronous belt (8c) is wound on the middle arm first bearing (8e) and two belt wheels links together with except another belt wheel；It is described
Middle the second belt wheel of arm group (8f) includes two belt wheels, and one of belt wheel is mounted on the interior of arm first bearing (8e) in another
Circle, middle second synchronous belt of arm (8g), which is wound on except the middle arm first bearing (8e) and another belt wheel, connects two belt wheels
It is connected together；The both ends of the middle arm first rotating shaft (8d) are separately mounted to the middle arm first pulley group (8b), middle arm second
The inner ring for the belt wheel of belt wheel group (8f) being mounted in the middle arm first bearing (8e)；The output shaft of the middle arm motor (8a)
It is mounted on the inner ring of another belt wheel of the middle arm first pulley group (8b)；It installs one end of second shaft of middle arm (8h)
In the inner ring of another belt wheel of middle the second belt wheel of arm group (8f), middle part is mounted on the interior of the middle arm second bearing (8i)
Circle, the other end are equipped with connection structure；
The end arm transmission mechanism (9) includes last arm motor (9a), last arm first pulley group (9b), the first synchronous belt of last arm
(9c), last arm first rotating shaft (9d), last arm first bearing (9e), last arm the second belt wheel group (9f), last the second synchronous belt of arm (9g),
Last arm second bearing (9h), last the second shaft of arm (9i), last arm third belt wheel group (9j), last arm third synchronous belt (9k), last arm
Third shaft (9m), last arm 3rd bearing (9n)；The end arm first pulley group (9b) includes two belt wheels, the end arm first
Synchronous belt (9c) is wound on except two belt wheels and two belt wheels links together；The output shaft of the end arm motor (9a) is mounted on
The inner ring of one of belt wheel of the end arm first pulley group (9b)；Described arm second bearing (9h) totally two of end；The end
Arm the second belt wheel group (9f) includes two belt wheels, and one of belt wheel is installed therein the interior of a last arm second bearing (9h)
Circle, end second synchronous belt of arm (9g), which is wound on except the last arm second bearing (9h) and another belt wheel, connects two belt wheels
It is connected together；The end arm third belt wheel group (9j) includes two belt wheels, and one of belt wheel is mounted on another last arm second
The inner ring of bearing (9h), the end arm third synchronous belt (9k) are wound on except the last arm second bearing (9h) and another belt wheel
Two belt wheels are linked together；The both ends of end second shaft of arm (9i) are separately mounted to last arm the second belt wheel group
The inner ring for the belt wheel of (9f), last arm third belt wheel group (9j) being mounted in the last arm second bearing (9h)；The end arm the
One end of one shaft (9d) is mounted on the inner ring of another belt wheel of the last arm first pulley group (9b), and middle part is mounted on described
The inner ring of last arm first bearing (9e), the other end are mounted on the inner ring of another belt wheel of last arm the second belt wheel group (9f)；
One end of the end arm third shaft (9m) is mounted on the inner ring of another belt wheel of the last arm third belt wheel group (9j), middle part
It is mounted on the inner ring of the last arm 3rd bearing (9n), the other end is equipped with connection structure.
It is structurally reasonable, it can reduce the volume of mechanical arm.
As the technical solution of optimization, the middle arm first rotating shaft (8d), last the second shaft of arm (9i) are solid shafting, described
Forearm shaft (7d), the second shaft of middle arm (8h), last arm first rotating shaft (9d) are hollow shaft, the middle arm first rotating shaft (8d),
Last arm first rotating shaft (9d), forearm shaft (7d) are sequentially coaxially arranged from inside to outside, and end second shaft of arm (9i) is located at institute
It states and is coaxially arranged in the second shaft of arm (8h).The coaxial arrangement of hollow and solid spindle, further decreases the body of mechanical arm
Product.
As the technical solution of optimization, the end arm first bearing (9e) uses multiple groups deep groove ball bearing, the end arm the
The outer ring of one bearing (9e) connects the inner wall of the forearm shaft (7d).
As the technical solution of optimization, the SCARA mechanical arm (1) further includes arm seat (10), and the arm seat (10) includes
Lower installation board and upper mounting plate；The forearm motor (7a), middle arm motor (8a), last arm motor (9a) respectively with the arm seat
(10) lower installation board is fixedly connected；The connection structure of forearm shaft (7d) end and the lower front edge of board of the forearm (4)
It is fixedly connected, the outer ring of the forearm bearing (7e) is fixedly connected with the upper mounting plate of the arm seat (10)；Two middle arms first
Be separately installed with bearing block on bearing (8e), two bearing blocks respectively with the lower installation board of the arm seat (10), the forearm (4)
Upper front edge of board be fixedly connected；The lower front edge of board of the connection structure of the second shaft of middle arm (8h) end and the middle arm (5)
It is fixedly connected, the outer ring of the middle arm second bearing (8i) is fixedly connected with the upper plate rear end of the forearm (4)；Two last arms the
Be separately installed with bearing block on two bearings (9h), two bearing blocks respectively with the lower plate rear end of the forearm (4), the middle arm
(5) upper front edge of board is fixedly connected；Before the lower plate of the flange arrangement of described end end arm third shaft (9m) and the last arm (6)
End is fixedly connected, and the outer ring of the end arm 3rd bearing (9n) is fixedly connected with the upper plate rear end of the middle arm (5).Structure is closed
Reason, cable bus are easy.
As the technical solution of optimization, the forearm bearing (7e), middle arm second bearing (8i), last arm 3rd bearing (9n)
It is crossed roller bearing.
It further include elevating mechanism (2), lifting pinboard (3), the SCARA mechanical arm (1) as the technical solution of optimization
The elevating mechanism (2) is connected by the lifting pinboard (3)；The elevating mechanism (2) is straight line mould group；The lifting turns
Fishplate bar (3) is fixedly connected with the sliding block of the SCARA mechanical arm (1) and the elevating mechanism (2) respectively.Structure is simple, side
Just it goes up and down.
As the technical solution of optimization, the elevating mechanism (2) is vertically arranged；The lifting pinboard (3) is inverted L
Shape folded plate, the SCARA mechanical arm (1) are fixedly connected with the transverse slat upper side of L shape folded plate, the riser and the liter of L shape folded plate
The sliding block of descending mechanism (2) is fixedly connected.
As the technical solution of optimization, the waist joint motor (11g) and the forearm (4), middle arm (5), last arm (6)
Motor be all made of stepper motor or servo motor.
As the technical solution of optimization, the waist joint motor (11g) and the forearm (4), middle arm (5), last arm (6)
Motor be mounted on encoder and speed reducer.
The present invention has the advantages that realizing that there is certain vibration damping to make for Multi-stage transmission, synchronous belt by belt wheel and synchronous belt
With mechanical arm tail end is with small vibration；The motor of mechanical arm is respectively positioned on the outside of mechanical arm, and cable bus is easy, and makes the rotation of mechanical arm
Gyration is unrestricted；Transmission mechanism occupies little space, and reduces the volume of mechanical arm, and mechanical arm is in flat, thin arm configuration, can
Occasion work is limited in vertical space；Transmission mechanism can be made of cheap standard component, and maintenance of motor is easy, and is reduced into
This.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission.
Fig. 2 is the knot of the SCARA mechanical arm of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission
Structure schematic diagram.
Fig. 3 is cuing open for the SCARA mechanical arm of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission
Depending on schematic diagram.
Fig. 4 is the knot of the forearm transmission mechanism of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission
Structure schematic diagram.
Fig. 5 is the knot of the middle arm transmission mechanism of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission
Structure schematic diagram.
Fig. 6 is the knot of the last arm transmission mechanism of platypelloid type one armed robot of the embodiment of the present invention based on synchronous belt pulley transmission
Structure schematic diagram.
In figure, SCARA mechanical arm 1, elevating mechanism 2, lifting pinboard 3, forearm 4, middle arm 5, last arm 6, forearm driver
Structure 7, middle arm transmission mechanism 8, last arm transmission mechanism 9, arm seat 10, forearm motor 7a, forearm belt wheel group 7b, forearm synchronous belt 7c,
Forearm shaft 7d, forearm bearing 7e, middle arm motor 8a, middle arm first pulley group 8b, the first synchronous belt of middle arm 8c, first turn of middle arm
Axis 8d, middle arm first bearing 8e, middle arm the second belt wheel group 8f, the second synchronous belt of middle arm 8g, the second shaft of middle arm 8h, middle arm second
Bearing 8i, last arm motor 9a, last arm first pulley group 9b, last the first synchronous belt of arm 9c, last arm first rotating shaft 9d, last arm first axle
Hold 9e, last arm the second belt wheel group 9f, last the second synchronous belt of arm 9g, last arm second bearing 9h, last the second shaft of arm 9i, last arm third
Belt wheel group 9j, last arm third synchronous belt 9k, last arm third shaft 9m, last arm 3rd bearing 9n.
Specific embodiment
As shown in figures 1 to 6, the platypelloid type one armed robot based on synchronous belt pulley transmission, including SCARA mechanical arm 1, lifting
Mechanism 2, lifting pinboard 3.
SCARA mechanical arm 1 includes forearm 4, middle arm 5, last arm 6, forearm transmission mechanism 7, middle arm transmission mechanism 8, last arm biography
Motivation structure 9, arm seat 10.
Forearm 4, middle arm 5, last arm 6 are set gradually from front to back, and forearm 4 is with a thickness of 50mm, and middle arm is with a thickness of 32mm, last arm
With a thickness of 5mm, forearm 4, middle arm 5, last arm 6 joint between distance be 200mm；Forearm transmission mechanism 7 is primary transmission mechanism,
The output shaft of motor connects the shaft of forearm 4 by one group of synchronous pulley, is passed to motor torque by one group of synchronous pulley
Forearm 4 drives forearm 4 to rotate 360 °；Middle arm transmission mechanism 8 is secondary drive mechanism, and the output shaft of motor passes through two
The shaft of arm 5, passes to middle arm 5, band for motor torque by two groups of synchronous pulleys in the successively transmitting connection of group synchronous pulley
Arm 5 rotates 360 ° in dynamic；The end arm transmission mechanism 9 is three-level transmission mechanism, and the output shaft of motor is same by three groups
The successively transmitting for walking belt wheel connects last arm 6, and motor torque is passed to last arm 6 by three groups of synchronous pulleys, last arm 6 is driven to carry out
360 ° of rotations.
Forearm transmission mechanism 7 includes forearm motor 7a, forearm belt wheel group 7b, forearm synchronous belt 7c, forearm shaft 7d, forearm
Bearing 7e；Forearm belt wheel group 7b includes two belt wheels, and forearm synchronous belt 7c is wound on except two belt wheels and is connected to two belt wheels
Together；The output shaft of forearm motor 7a is mounted on the inner ring of one of belt wheel of forearm belt wheel group 7b；The one of forearm shaft 7d
End is mounted on the inner ring of another belt wheel of forearm belt wheel group 7b, and middle part is mounted on the inner ring of forearm bearing 7e, and the other end is equipped with
Flange connection.
Middle arm transmission mechanism 8 includes middle arm motor 8a, middle arm first pulley group 8b, the first synchronous belt of middle arm 8c, middle arm the
One shaft 8d, middle arm first bearing 8e, middle arm the second belt wheel group 8f, the second synchronous belt of middle arm 8g, the second shaft of middle arm 8h, middle arm
Second bearing 8i；Middle arm first bearing 8e totally two；Middle arm first pulley group 8b includes two belt wheels, one of belt wheel installation
In the inner ring of wherein one middle arm first bearing 8e, middle the first synchronous belt of arm 8c is wound on middle arm first bearing 8e and another belt wheel
Except two belt wheels are linked together；Middle arm the second belt wheel group 8f includes two belt wheels, and one of belt wheel is mounted on another
The inner ring of a middle arm first bearing 8e, middle the second synchronous belt of arm 8g are wound on two except middle arm first bearing 8e and another belt wheel
A belt wheel links together；The both ends of middle arm first rotating shaft 8d are separately mounted to middle arm first pulley group 8b, the second belt wheel of middle arm
The inner ring for the belt wheel of group 8f being mounted in middle arm first bearing 8e；The output shaft of middle arm motor 8a is mounted on middle arm first pulley
The inner ring of another belt wheel of group 8b；One end of middle the second shaft of arm 8h is mounted on another belt wheel of middle arm the second belt wheel group 8f
Inner ring, middle part is mounted on the inner ring of middle arm second bearing 8i, and the other end is equipped with flange connection.
Last arm transmission mechanism 9 includes last arm motor 9a, last arm first pulley group 9b, last the first synchronous belt of arm 9c, last arm the
One shaft 9d, last arm first bearing 9e, last arm the second belt wheel group 9f, last the second synchronous belt of arm 9g, last arm second bearing 9h, last arm
Second shaft 9i, last arm third belt wheel group 9j, last arm third synchronous belt 9k, last arm third shaft 9m, last arm 3rd bearing 9n；End
Arm first pulley group 9b includes two belt wheels, and last the first synchronous belt of arm 9c, which is wound on except two belt wheels, is connected to one for two belt wheels
It rises；The output shaft of last arm motor 9a is mounted on the inner ring of one of belt wheel of last arm first pulley group 9b；Last arm second bearing
9h totally two；Last arm the second belt wheel group 9f includes two belt wheels, and one of belt wheel is installed therein a last arm second bearing
The inner ring of 9h, last the second synchronous belt of arm 9g are wound on except last arm second bearing 9h and another belt wheel two belt wheels being connected to one
It rises；Last arm third belt wheel group 9j includes two belt wheels, and one of belt wheel is mounted on the inner ring of another last arm second bearing 9h,
Last arm third synchronous belt 9k is wound on last arm second bearing 9h and two belt wheels links together with except another belt wheel；Last arm
The both ends of two shaft 9i are separately mounted to last arm the second belt wheel group 9f, last arm third belt wheel group 9j is mounted on last arm second bearing
The inner ring of belt wheel in 9h；One end of last arm first rotating shaft 9d is mounted on the interior of another belt wheel of last arm first pulley group 9b
Circle, middle part are mounted on the inner ring of last arm first bearing 9e, and the other end is mounted on another belt wheel of last arm the second belt wheel group 9f
Inner ring；One end of last arm third shaft 9m is mounted on the inner ring of another belt wheel of last arm third belt wheel group 9j, and middle part is mounted on
The inner ring of last arm 3rd bearing 9n, the other end are equipped with flange connection.
Middle arm first rotating shaft 8d, end arm the second shaft 9i are solid shafting, forearm shaft 7d, the second shaft of middle arm 8h, last arm
First rotating shaft 9d is hollow shaft；Middle arm first rotating shaft 8d, last arm first rotating shaft 9d, forearm shaft 7d are sequentially coaxially set from inside to outside
It sets；Last the second shaft of arm 9i, which is located in middle the second shaft of arm 8h, to be coaxially arranged；Last arm first bearing 9e uses multiple groups zanjon
Ball bearing, the inner wall of the outer ring connection forearm shaft 7d of last arm first bearing 9e.
Arm seat 10 includes lower installation board and upper mounting plate；Forearm motor 7a, middle arm motor 8a, last arm motor 9a respectively with arm
The lower installation board of seat 10 is fixedly connected；The flange connection of the end forearm shaft 7d is fixedly connected with the lower front edge of board of forearm 4,
Forearm bearing 7e is crossed roller bearing, and Internal and external cycle is equipped with installation interface, the outer ring of forearm bearing 7e and the upper peace of arm seat 10
Loading board is fixedly connected；Bearing block is separately installed on two middle arm first bearing 8e, two bearing blocks are respectively and under arm seat 10
Mounting plate, forearm 4 upper front edge of board be fixedly connected；The flange connection of the end middle arm the second shaft 8h and the lower plate of middle arm 5
Front end is fixedly connected, and middle arm second bearing 8i is crossed roller bearing, and Internal and external cycle is equipped with installation interface, middle arm second bearing 8i
Outer ring be fixedly connected with the upper plate rear end of forearm 4；Bearing block, two bearings are separately installed on two last arm second bearing 9h
Seat is fixedly connected with the upper front edge of board of the lower plate rear end of forearm 4, middle arm 5 respectively；The flanged joint of the end last arm third shaft 9m
Structure is fixedly connected with the lower front edge of board of last arm 6, and last arm 3rd bearing 9n is crossed roller bearing, and Internal and external cycle is equipped with installation and connects
Mouthful, the outer ring of last arm 3rd bearing 9n is fixedly connected with the upper plate rear end of middle arm 5.
SCARA mechanical arm 1 connects elevating mechanism 2 by lifting pinboard 3；Elevating mechanism 2 is the production of existing straight line mould group
Product, stroke are hundred millimeter magnitudes, and elevating mechanism 2 is vertically arranged；Lifting pinboard 3 is inverted L shape folded plate, the lower peace of arm seat 10
The bottom of loading board is fixedly connected with the transverse slat upper side of L shape folded plate, the riser of L shape folded plate and the fixed company of the sliding block of elevating mechanism 2
It connects, it is vertically movable.
Forearm motor 7a, middle arm motor 8a, last arm motor 9a, waist joint motor 11g are all made of stepper motor.
Forearm motor 7a, middle arm motor 8a, last arm motor 9a, waist joint motor 11g are mounted on encoder and speed reducer.
Embodiment two
The difference between this embodiment and the first embodiment lies in: forearm motor 7a, middle arm motor 8a, end arm motor 9a are all made of and watch
Take motor.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
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| CN201910226344.7A CN109760029B (en) | 2019-03-22 | 2019-03-22 | Flat single-arm robot based on synchronous pulley transmission |
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| CN201910226344.7A CN109760029B (en) | 2019-03-22 | 2019-03-22 | Flat single-arm robot based on synchronous pulley transmission |
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| CN109760029A true CN109760029A (en) | 2019-05-17 |
| CN109760029B CN109760029B (en) | 2020-09-01 |
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| CN110774271A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Multi-angle grabbing manipulator for industrial robot |
| CN111618828A (en) * | 2020-07-01 | 2020-09-04 | 浙江大学台州研究院 | Crossed manipulator for truss |
| CN113021324A (en) * | 2019-12-09 | 2021-06-25 | 宁波智能制造技术研究院有限公司 | Stepped coaxial transmission mechanism for robot |
| CN113716002A (en) * | 2021-08-17 | 2021-11-30 | 杭州电子科技大学 | Compact underwater vehicle component retraction device and method driven by composite belt |
| CN114059750A (en) * | 2020-07-31 | 2022-02-18 | 广东博智林机器人有限公司 | Floor tile laying device and floor tile laying robot |
| US11583756B2 (en) | 2019-03-08 | 2023-02-21 | Infivention Technologies Pvt. Ltd. | Electronic game board |
| CN116021551A (en) * | 2023-03-31 | 2023-04-28 | 成都思越智能装备股份有限公司 | Connecting rod type mechanical arm |
| CN118952179A (en) * | 2024-08-27 | 2024-11-15 | 中科芯微智能装备(沈阳)有限公司 | Transmission device, vacuum manipulator and transmission method of vacuum manipulator |
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