CN110405744A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN110405744A CN110405744A CN201910626631.7A CN201910626631A CN110405744A CN 110405744 A CN110405744 A CN 110405744A CN 201910626631 A CN201910626631 A CN 201910626631A CN 110405744 A CN110405744 A CN 110405744A
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- China
- Prior art keywords
- transmission belt
- tensioning wheel
- operating member
- tensioning
- follower
- 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.)
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- 230000005540 biological transmission Effects 0.000 claims abstract description 130
- 230000000694 effects Effects 0.000 claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000002411 adverse Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910052594 sapphire Inorganic materials 0.000 description 1
- 239000010980 sapphire Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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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—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Abstract
The present invention relates to production equipment technologies, and in particular to a kind of robot.The robot includes driving portion, transmission belt, follower and auto-tensioning portion, and the driving portion is sequentially connected by the transmission belt and the follower；The auto-tensioning portion includes pressure detecting portion, tensioning wheel and operating member, and the pressure detecting portion and the transmission belt cooperate, and with the tensile force for detecting the transmission belt, the pressure detecting portion is connect with the operating member；The tensioning wheel and the transmission belt, which roll, to be connected, and the operating member drives the relatively described follower activity of the tensioning wheel according to the information of presupposed information and the tensile force, to be tensioned the transmission belt.The tightness of robot provided by the present invention transmission belt during the work time can automatically adjust, and working performance is higher, and is not likely to produce noise.
Description
Technical field
The present invention relates to production equipment technologies, and in particular to a kind of robot.
Background technique
With the iterative method of industrial automation process, SCARA (Selective Compliance Assembly
Robot Arm selects compliance to put together machines arm) robot will be used wider and wider.Currently, in SCARA robot
J3 axis and J4 axis generally use synchronous pulley transmitting power.But as robot uses the growth of duration, belt can be gradually
Become loose, the case where tensile force decline occur, has an adverse effect to the working performance of robot；Meanwhile belt is at low
It works under clamp force state and is also easy to produce noise.
Summary of the invention
(1) the technical problem to be solved by the present invention is current robot is with the growth of operating time, belt will appear
On the one hand relaxation can generate noise, on the other hand can have an adverse effect to the impulse stroke of robot.
(2) technical solution
In order to realize above-mentioned technical problem, the present invention provides a kind of robots comprising driving portion, transmission belt, driven
Portion and auto-tensioning portion, the driving portion are sequentially connected by the transmission belt and the follower；
The auto-tensioning portion includes pressure detecting portion, tensioning wheel and operating member, the pressure detecting portion and the transmission
Band cooperation, with the tensile force for detecting the transmission belt, the pressure detecting portion is connect with the operating member；
The tensioning wheel and the transmission belt, which roll, to be connected, and the operating member is according to presupposed information and the letter of the tensile force
Breath drives the relatively described follower activity of the tensioning wheel, to be tensioned the transmission belt.
Optionally, the operating member is motor, and the shaft of the motor is connected by the shaft of transmission rod and the tensioning wheel
It connects.
Optionally, the operating member and the tensioning wheel are located at the same side of the transmission rod.
Optionally, the inside of the transmission belt, and the operating member and the transmission belt is arranged in the auto-tensioning portion
Between have setting spacing.
Optionally, the operating member and the tensioning wheel are separately positioned on the axis and the follower of the driving portion
The opposite sides for the plane that axis is formed.
Optionally, the pressure detecting portion is pressure sensor, and the pressure detecting portion and the operating member communicate to connect.
Optionally, the pressure sensor is installed on the transmission rod close to one end of the tensioning wheel, and the pressure
Sensor is located on the axis of the shaft of the tensioning wheel.
Optionally, the inside of the transmission belt has driving cog, and the pressure sensor is located at the inside of the transmission belt,
And it is mounted on the tensioning wheel.
Optionally, the tensioning wheel is set to the middle part of the transmission belt.
Optionally, the follower and the transmission belt are provided with multiple, each transmission belt be equipped with it is described from
Dynamic tensioned portion.
(3) beneficial effect
The present invention provides a kind of robot, and driving portion can drive follower work by transmission belt, also, in machine
In the course of work of people, the tensile force of transmission belt can detecte by pressure detecting portion, and the tensioning force information is transmitted to dynamic
Make portion, operating member can adjust the tightness of transmission belt according to presupposed information and the tensioning force information, and then make transmission belt
Tightness is held essentially constant, the tension effects being optimal, and guarantees robot working performance with higher, and prevent from passing
Noise is generated because of relaxation in the dynamic band course of work.
Detailed description of the invention
The advantages of above-mentioned and/or additional aspect of the invention, will be apparent from the description of the embodiment in conjunction with the following figures
Be readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of robot provided by the embodiment of the present invention；
Fig. 2 is the cooperation schematic diagram of part-structure in robot provided by the embodiment of the present invention；
Fig. 3 is the structural schematic diagram in auto-tensioning portion in robot provided by the embodiment of the present invention.
Appended drawing reference
1- driving portion；
2- transmission belt；
3- follower；
4- auto-tensioning portion；
41- pressure detecting portion；
42- tensioning wheel；
43- operating member；
44- transmission rod；
5- ball screw.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, implementation of the invention
Feature in example and embodiment can be combined with each other.
As shown in Figure 1, the present invention provides a kind of robot comprising driving portion 1, transmission belt 2, follower 3 and automatic
Tight portion 4, driving portion 1 is sequentially connected by transmission belt 2 and follower 3, so that entire robot motion, completes work to be done
Make.As shown in figure 3, auto-tensioning portion 4 includes pressure detecting portion 41, tensioning wheel 42 and operating member 43, pressure detecting portion 41 and biography
Dynamic band 2 cooperates, thus during robot work, the tensile force of real-time detection transmission belt 2, and pressure detecting portion 41 also with it is dynamic
Make the connection of portion 43, the information of the tensile force of detected transmission belt 2 is transmitted to operating member 43, so that operating member 43 be made to obtain
The tensile force situation of transmission belt 2 is taken, so that operating member 43 can drive according to the information of presupposed information and aforementioned tensile force
Tensioning wheel 42 is connected with respect to 3 activity of follower, and since tensioning wheel 42 is also rolled with transmission belt 2, and then in 42 position of tensioning wheel
After changing, the tightness of transmission belt 2 can be adjusted, finally be able to satisfy the tightness of transmission belt 2 pre-
If on the one hand guaranteeing robot working performance with higher it is required that reaching optimum state, on the other hand can also preventing from being driven
Noise is generated in 2 course of work of band.
Specifically, driving portion 1 can be able to be belt wheel with motor, follower 3, and transmission belt 2 is mounted on the driving of motor
On axis and belt wheel, thus in the case where electric motor operation, follower 3 is driven to rotate by transmission belt 2, follower 3 can be with
It is connect with ball screw 5, and then driving makes entire robot generate corresponding actions；The model and specification of motor can be according to realities
Border situation is flexibly selected, and belt wheel can be made of hard materials such as metals, and transmission belt 2 can use traditional rubber band, for example,
It can be flat belt, and correspondingly, the outer surface of belt wheel may be corresponding smooth surface, to guarantee transmission belt 2 and belt wheel
The matching relationship of formation is relatively stable reliable；In addition, the specific size of belt wheel and transmission belt 2 can be determined according to actual size.
Pressure detecting portion 41 can may be mounted at the side of transmission belt 2 with equipment such as belt tension force testers, and with
Transmission belt 2 cooperates, thus by the practical tensile force size of belt tension instrument detection transmission belt 2, and passed by electrical fitting
Transport to operating member 43；Or, it is preferable that pressure detecting portion 41 can also be pressure sensor, and testing result is relatively accurate, and
The size of entire device is relatively small, and structure is simple, is specifically as follows piezoelectric pressure indicator or sapphire formula pressure passes
Sensor etc., those skilled in the art, can flexible choices according to the actual situation during the actual production robot.
Operating member 43 may include cylinder, hydraulic cylinder or other have a driving structure of Telescopic, and have and receive,
The controller of arbitration functions, in the course of work of robot, controller is all connected with pressure detecting portion 41 and driving structure, from
And in the course of work of robot, the tensioning force information that pressure detecting portion 41 can will test is transmitted to controller, control
Presupposed information is also stored in device, transmission belt 2 can be judged by comparison presupposed information and the tensioning force information received
The driving head of elastic state, driving structure is connect with the shaft of tensioning wheel 42, and then under the movement of driving head, drives tensioning wheel
42 movements, change the relative position between tensioning wheel 42 and follower 3, adjust the tightness of transmission belt 2.
In addition, as shown in figure 3, driving structure can also be for that can provide the structure of rotational action, as driving structure can be
The shaft of servo motor, servo motor can be connect by transmission rod 44 with the shaft of tensioning wheel 42, and then be passed needing to adjust
When the tightness of dynamic band 2, servo motor can be made to act, by the connection function of transmission rod 44, drive tensioning wheel 42 whole
Rotation, during tensioning wheel 42 rotates, tensioning wheel 42 will certainly be generated perpendicular to the componental movement on 2 direction of transmission belt, into
And it is also possible that tensioning wheel 42 generates certain tension to transmission belt 2, guarantee the tightness of transmission belt 2 be maintained at compared with
In good range.When adjusting the physical location of tensioning wheel 42 using rotational structure, the movement range of tensioning wheel 42 is smaller, and adjusts
Range is wider, and degree of regulation is higher, guarantees that the tightness of transmission belt 2 is in preferably range；Meanwhile this structure is dynamic
The overall structure size for making portion 43 is relatively small, and operating member 43 generate drive actions needed for space it is relatively small, prevent because
Increase auto-tensioning portion 4 to the assembling process of robot and works normally the larger adverse effect of generation.
Specifically, the model of servo motor can determines according to actual conditions, and transmission rod 44 can be strut shape structure, passes
One end of power bar 44 can be connected in the drive shaft of servo motor by components such as fasteners, and the shaft of tensioning wheel 42 can be consolidated
Surely it is connected to the other end of transmission rod 44.It, can also be with it should be noted that tensioning wheel 42 can be set in the inside of transmission belt 2
The outside of transmission belt 2 is set, is not construed as limiting herein, by making the contact of pressure sensor leak outside, making pressure sensor and passing
Dynamic band 2 is in rolling contact, real-time detection belt tension size.In the previous case, pressure sensor may be mounted at transmission rod
On 44, and in order to guarantee that pressure sensor can detect the tensile force of transmission belt 2, pressure sensor can be made to be located at power transmission
Bar 44 is close to one end of tensioning wheel 42.Preferably, as shown in figure 3, pressure sensor can be made to be located at the shaft of tensioning wheel 42
On axis, in this case, position and tensioning wheel 42 and transmission belt 2 when pressure sensor is in contact with transmission belt 2 are rolled
Move the position cooperated on the same line, and then can be effectively reduced because increasing auto-tensioning portion 4 is that transmission belt 2 is increased
The size of resistance, to guarantee entire robot working performance with higher.
In order to guarantee to prevent driving portion 1, transmission belt 2 and 3 three of follower from occurring opposite sliding in engagement process, into
One step, transmission belt 2 can be toothed transmission belt, for example, transmission belt 2 can be HTD circular arc type band or 2GT type band etc.,
Correspondingly, the structure matched with the tooth form of transmission belt 2 can be set on driving portion 1 and follower 3, thus in transmission belt
Under 2 drive, it is ensured that follower 3 can more reliably work under the drive of driving portion 1.In this case, if
The outside of transmission belt 2 is arranged in pressure sensor, then pressure sensor may be mounted on transmission rod, and presses in above-described embodiment
The mounting means of force snesor is identical；And when the inside of transmission belt 2 is arranged in pressure sensor, in order to guarantee pressure sensor
Contact relation can be formed with the transmission belt 2 of above structure, optionally, pressure sensor may be mounted on tensioning wheel 42, thus
It is contacted by tensioning wheel 42 with transmission belt 2, and detects the tensile force of transmission belt 2.More specifically, pressure sensor can be formed
In the inside of tensioning wheel 42, and the detector of pressure sensor is made to be exposed to the surface of tensioning wheel 42, to be contacted with transmission belt 2,
To be detected to the tensile force of transmission belt 2；Alternatively, pressure sensor can also be mounted on the wheel shaft of tensioning wheel 42,
Pressure sensor is set to be located at the underface of 42 inner hole of tensioning wheel, to examine indirectly by the power between aforementioned wheel shaft and transmission rod 44
Survey the tensile force of transmission belt 2.
Preferably, as shown in figure 3, during assembling the robot, operating member 43 and the equal position of tensioning wheel 42 can be made
In the same side of transmission rod 44, and then when installing in the auto-tensioning portion 4 to robot, must can reduce as far as possible entire
Space shared by auto-tensioning portion 4, and then can prevent because increasing auto-tensioning portion 4, and to the assembling process of entire robot
Biggish adverse effect is generated with working normally.
More specifically, as shown in Fig. 2, entire auto-tensioning portion 4 can be made to be respectively positioned on during assembling the robot
The inside of transmission belt 2, that is to say, that transmission belt 2 surrounds auto-tensioning portion 4 and is arranged, and due under 2 normal running conditions of transmission belt,
Certain clearance space will certainly be generated inside it, by using the mounting structure of the present embodiment, on the one hand can be efficiently used
The space of 2 inside of transmission belt；On the other hand, the presence in auto-tensioning portion 4 can also be prevented to the normal work of robot as far as possible
Generate larger adverse effect.Also, friction is generated between operating member 43 and transmission belt 2 in order to prevent, and hinders transmission belt 2 just
Often work can make have setting spacing between operating member 43 and transmission belt 2, and specifically, those skilled in the art can basis
Actual conditions determine the specific size of the spacing, are not construed as limiting herein.In addition, it is necessary to explanation, the axis of operating member 43 and
The plane that the axis of tensioning wheel 42 is formed, the plane out of plumb formed with the axis of follower 3 and the axis of driving portion 1, or
It says, as shown in Fig. 2, in 42 the two of operating member 43 and tensioning wheel, makes one close to driving portion 1, make another one close to follower 3,
To guarantee that tensioning wheel 42 has the ability of tensioning transmission belt 2 in the case where operating member 43 acts.
Further, as shown in Fig. 2, operating member 43 and tensioning wheel 42 can be made during installing auto-tensioning portion 4
The opposite sides for the plane that the axis of the axis and follower 3 that are located at driving portion 1 is formed, that is to say, that 43 He of operating member
Tensioning wheel 42 is arranged at the inside of transmission belt 2, and operating member 43 is located between the part of 2 side of tensioning wheel 42 and transmission belt,
And tensioning wheel 42 also is located between the part of 2 other side of operating member 43 and transmission belt, and then 2 one side section of transmission belt with it is another
On the opposite direction of side section, the relative distance between operating member 43 and tensioning wheel 42 is relatively large, and then by servo electricity
During machine drives tensioning wheel 42 to act, so that tensioning wheel 42 is relatively bigger with the angle that servo motor rotates, so that
Tensioning wheel 42 is bigger to the adjustable range of transmission belt 2；It, can be with meanwhile when being acted by servo motor driving tensioning wheel 42
It prevents from being substantially prevented from the process that transmission belt 2 is inside contracted with tensioning wheel 42 because tensioning wheel 42 is to the process of 2 medial movement of transmission belt
Middle touching touches operating member 43, and can also guarantee that transmission belt 2 has preferable tension effects.It should be noted that considering
May be different to operating member 43 and 42 size of tensioning wheel, thus most of knot of most of structure of operating member 43 and tensioning wheel 42
Structure is respectively the opposite sides of the plane formed with the axis of the axis of driving portion 1 and follower 3, i.e., it is believed that 43 He of operating member
Tensioning wheel 42 is located at the opposite sides of aforesaid plane, also in the protection scope of the embodiment of the present invention.
It is possible to further make tensioning wheel 42 that the middle part of transmission belt 2 be arranged in, close to 3 He of follower on opposite transmission belt 2
The tightness of the part of driving portion 1, the part at the middle part of transmission belt 2 is relatively loose, and then in this case, makes tensioning wheel
42 are set to the middle part of transmission belt 2, can increase the amplitude that is conditioned of transmission belt 2, and then make the adjusting in entire auto-tensioning portion 4
Range is larger；Meanwhile when tensioning wheel 42 is to moving on the outside of transmission belt 2, after being tensioned transmission belt 2, transmission belt 2 will certainly be reduced
The part being bonded with driving portion 1 and follower 3, the embodiment of the present invention is by making tensioning wheel 42 be set to the middle part of transmission belt 2, also
It can prevent as far as possible during tensioning, excessively manifold transmission belt 2 is detached from from driving portion 1 and follower 3, and then is prevented out
Existing slipping phenomenon guarantees under the action of driving portion 1, transmission belt 2 can normally drive follower 3 to work.
Further, cause transmission belt 2 certain deformation occur because adding tensioning wheel 42 in order to prevent, and influence transmission belt
2 with the contact area of driving portion 1 and follower 3, it is preferable that the width of tensioning wheel 42 can be made to be equal to or more than transmission belt 2
Width, and then guarantee that transmission belt 2 can be integrally fitted on tensioning wheel 42, this can also guarantee that tensioning wheel 42 can pass to be entire
Dynamic band 2 provides preferable tension effects, thus the noise phase for keeping the integral working of entire robot relatively high, and generating
To smaller.
In addition, correspondingly, follower 3 and transmission belt 2 also can be with as shown in Figure 1, driving portion 1 can be set multiple
Be provided with it is multiple, in this case, in the course of work in order to guarantee robot, the equal energy of tightness of multiple transmission belts 2
It is maintained in preferable range, thus the further integral working of hoisting machine people, and prevent robot worked substantially
Noise is generated in journey.Specifically, building block, mounting means and the installation in the auto-tensioning portion 4 being arranged on each transmission belt 2
Position etc. can correspond to identical, on the one hand to work convenient for spare part progress, on the other hand can also reduce to a certain extent
Difficulty is assembled, packaging efficiency is promoted.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
It is logical ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be direct connection, can also be can be by intermediary indirect communication
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than.
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
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot characterized by comprising driving portion (1), transmission belt (2), follower (3) and auto-tensioning portion
(4), the driving portion (1) is sequentially connected by the transmission belt (2) and the follower (3)；
The auto-tensioning portion (4) includes pressure detecting portion (41), tensioning wheel (42) and operating member (43), the pressure detecting portion
(41) cooperate with the transmission belt (2), with for detecting the tensile forces of the transmission belt (2), the pressure detecting portion (41) with
Operating member (43) connection；
The tensioning wheel (42) and the transmission belt (2), which roll, to be connected, and the operating member (43) is according to presupposed information and described
The information of clamp force drives relatively described follower (3) activity of the tensioning wheel (42), to be tensioned the transmission belt (2).
2. robot according to claim 1, which is characterized in that the operating member (43) is motor, and the motor turns
Axis is connect by transmission rod (44) with the shaft of the tensioning wheel (42).
3. robot according to claim 2, which is characterized in that the operating member (43) is located at the tensioning wheel (42)
The same side of the transmission rod (44).
4. robot according to claim 3, which is characterized in that the auto-tensioning portion (4) is arranged in the transmission belt
(2) inside, and there is setting spacing between the operating member (43) and the transmission belt (2).
5. robot according to claim 4, which is characterized in that the operating member (43) and the tensioning wheel (42) are respectively
The opposite sides of the plane formed in the axis of the driving portion (1) and the axis of the follower (3) is set.
6. robot according to claim 2, which is characterized in that the pressure detecting portion (41) is pressure sensor, institute
Pressure detecting portion (41) and the operating member (43) are stated to communicate to connect.
7. robot according to claim 6, which is characterized in that the pressure sensor is installed on the transmission rod (44)
Close to the one end of the tensioning wheel (42), and the pressure sensor is located on the axis of the shaft of the tensioning wheel (42).
8. robot according to claim 6, which is characterized in that the inside of the transmission belt (2) has driving cog, described
Pressure sensor is located at the inside of the transmission belt (2), and is mounted on the tensioning wheel (42).
9. robot according to claim 1, which is characterized in that the tensioning wheel (42) is set to the transmission belt (2)
Middle part.
10. robot according to claim 1, which is characterized in that the follower (3) and the transmission belt (2) are all provided with
It is equipped with multiple, each transmission belt (2) is equipped with the auto-tensioning portion (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626631.7A CN110405744A (en) | 2019-07-11 | 2019-07-11 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910626631.7A CN110405744A (en) | 2019-07-11 | 2019-07-11 | A kind of robot |
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| CN110405744A true CN110405744A (en) | 2019-11-05 |
Family
ID=68361146
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|---|---|---|---|
| CN201910626631.7A Pending CN110405744A (en) | 2019-07-11 | 2019-07-11 | A kind of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890411A (en) * | 2020-08-03 | 2020-11-06 | 苏州海翌智能科技有限公司 | Quick assembly disassembly formula four-axis manipulator |
| CN113733065A (en) * | 2021-09-06 | 2021-12-03 | 珠海格力电器股份有限公司 | Transmission and industrial robot |
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