CN110434842A - A kind of multi-arm manipulator and execute method - Google Patents
A kind of multi-arm manipulator and execute method Download PDFInfo
- Publication number
- CN110434842A CN110434842A CN201910786155.5A CN201910786155A CN110434842A CN 110434842 A CN110434842 A CN 110434842A CN 201910786155 A CN201910786155 A CN 201910786155A CN 110434842 A CN110434842 A CN 110434842A
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- driving wheel
- driving
- cantilever
- drive shaft
- arm
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- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting 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
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-arm manipulators, it includes pedestal, pedestal is equipped with the first driving mechanism and the second driving mechanism, pedestal is equipped with drive shaft, the first driving wheel is arranged in drive shaft, the first cantilever is fixed on first driving wheel, it is arranged with the first driving wheel in drive shaft and the two is fixedly connected, first cantilever is equipped with fixing axle and the two is fixedly connected, it is arranged with the second driving wheel in fixing axle and the two is fixedly connected, first driving wheel and the second driving wheel are sequentially connected, the second cantilever is fixed on second driving wheel, it is fixed with third driving wheel in fixing axle and the two is fixedly connected, second cantilever is equipped with the 4th driving wheel and the two is rotatablely connected, third driving wheel and the 4th driving wheel are sequentially connected, 4th driving wheel is equipped with execution arm and the two is fixedly connected, by matching for the first driving mechanism and the second driving mechanism Conjunction drives execution arm to translate within a preset range.The configuration of the present invention is simple is easily achieved, saves space.
Description
Technical field
The present invention relates to manipulator more particularly to a kind of multi-arm manipulator and execute method.
Background technique
Manipulator is generally used in automation equipment, general to wrap for specifically executing the institution facilities of corresponding actions
Driving mechanism and follower are included, is controlled by corresponding signal, it is driven to execute the shifting between multiple positions such as translation, lifting
Dynamic, translation manipulator in the prior art is usually composed using straight line mould group or screw mandrel drive mechanism, such machinery
Although hand can be realized translation functions, but its structure is mostly more complicated, and need to occupy certain transverse direction, Zong Xiangkong
Between, it is unfavorable for promoting and applying in automation equipment.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the deficiencies of the prior art, provide that a kind of structure is simple, is easy to real
Existing, section space-efficient multi-arm manipulator and execution method.
In order to solve the above technical problems, the present invention adopts the following technical scheme that.
A kind of multi-arm manipulator comprising there is pedestal, the pedestal is equipped with the first driving mechanism and the second driving mechanism,
The pedestal is equipped with drive shaft and the two is rotatablely connected, and drives the drive shaft turns, institute by first driving mechanism
It states and is arranged with the first driving wheel and the two rotation connection in drive shaft, drive first driving by second driving mechanism
Wheel rotates, and is fixed with the first cantilever on first driving wheel, the first driving wheel is arranged in the drive shaft and the two is fixed
Connection, first cantilever is equipped with fixing axle and the two is fixedly connected, and the second driving wheel and two are arranged in the fixing axle
Person is fixedly connected, and first driving wheel and second driving wheel are sequentially connected, and is fixed with second on second driving wheel
Cantilever is fixed with third driving wheel in the fixing axle and the two is fixedly connected, and second cantilever is equipped with the 4th driving wheel
And the two is rotatablely connected, the third driving wheel and the 4th driving wheel are sequentially connected, and the 4th driving wheel is equipped with and holds
Row arm and the two is fixedly connected drives the execution arm by the cooperation of first driving mechanism and second driving mechanism
It translates within a preset range.
Preferably, first driving mechanism includes the first driving motor and the first deceleration mechanism, in the drive shaft
It is arranged with the second driving wheel and the two is fixedly connected, first driving motor, the first deceleration mechanism and the second driving wheel are successively
Transmission connection.
Preferably, second driving mechanism includes the second driving motor and the second deceleration mechanism, in the drive shaft
Third driving wheel and the two is arranged with to be rotatablely connected, the third driving wheel is fixedly connected with first driving wheel, and described the
Two driving motors, the second deceleration mechanism and the third driving wheel are successively sequentially connected.
Preferably, first deceleration mechanism and the second deceleration mechanism are belt speed reducer structures.
Preferably, first driving wheel and second driving wheel are respectively positioned in first cantilever, and described first
Driving wheel and second driving wheel are divided into the both ends of first cantilever.
Preferably, it is connected between first driving wheel and second driving wheel by the first driving belt.
Preferably, the third driving wheel and the 4th driving wheel are respectively positioned in second cantilever, and the third
Driving wheel and the 4th driving wheel are divided into the both ends of second cantilever.
Preferably, it is connected between the third driving wheel and the 4th driving wheel by the second driving belt.
Preferably, first cantilever is located at the top of the pedestal, and second cantilever is located at first cantilever
Top, the top for executing arm and being located at second cantilever.
A kind of execution method of multi-arm manipulator, the multi-arm machinery hand include having pedestal, and the pedestal is equipped with first
Driving mechanism and the second driving mechanism, the pedestal is equipped with drive shaft and the two is rotatablely connected, by first driving machine
Structure drives the drive shaft turns, and the first driving wheel is arranged in the drive shaft and the two is rotatablely connected, by described second
Driving mechanism drives first driving wheel to rotate, and is fixed with the first cantilever on first driving wheel, covers in the drive shaft
Equipped with the first driving wheel and the two is fixedly connected, and first cantilever is equipped with fixing axle and the two is fixedly connected, the fixation
It is arranged with the second driving wheel on axis and the two is fixedly connected, first driving wheel and second driving wheel are sequentially connected, institute
It states and is fixed with the second cantilever on the second driving wheel, third driving wheel is fixed in the fixing axle and the two is fixedly connected, it is described
Second cantilever is equipped with the 4th driving wheel and the two is rotatablely connected, and the third driving wheel and the 4th driving wheel transmission connect
It connects, the 4th driving wheel, which is equipped with, to be executed arm and the two and be fixedly connected, and the execution method comprises the following processes: when described the
When two driving mechanisms drive first driving wheel to operate, first driving wheel drives first cantilevered swing；When described
When first driving mechanism drives the drive shaft to operate, the drive shaft passes sequentially through first driving wheel and the second driving wheel
Second cantilevered swing is driven, while the relatively described fixing axle of second cantilever generates angular displacement, the third driving wheel
The execution arm swing is driven by the 4th driving wheel；By first driving mechanism and second driving mechanism
Cooperation drives the execution arm to translate within a preset range.
In multi-arm manipulator disclosed by the invention, when the cooperation of first driving mechanism and second driving mechanism is transported
When turning, second driving mechanism drives first cantilevered swing by first driving wheel, on this basis, described the
One driving mechanism passes sequentially through the drive shaft, first driving wheel and the second driving wheel and drives second cantilevered swing,
During second cantilevered swing, because the fixing axle is fixedly connected with first cantilever, so that second cantilever
Angular displacement occurs for the relatively described fixing axle, i.e., the described third driving wheel is rotated relative to second cantilever, then passes through the described 4th
Driving wheel drives the execution arm swing, when first driving mechanism operates simultaneously with second driving mechanism, passes through
Control both rotation direction and stroke, drive first cantilever, second cantilever and the executions arm swing to specify
Position.For compared to the prior art, the present invention is without occupying larger space, and structure of the invention is simpler, is easy to
It realizes, therefore is suitble to promote and apply in automation equipment, and with good application prospect.
Detailed description of the invention
Fig. 1 is the perspective view one of multi-arm manipulator；
Fig. 2 is the perspective view two of multi-arm manipulator；
Fig. 3 is the top view of multi-arm manipulator；
Fig. 4 is the cross-sectional view in Fig. 3 along line B-B；
Fig. 5 is the exploded view of multi-arm manipulator.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawings and examples.
The invention discloses a kind of multi-arm manipulators, in conjunction with shown in Fig. 1 to Fig. 5 comprising have a pedestal 1, on the pedestal 1
Equipped with the first driving mechanism 2 and the second driving mechanism 3, the pedestal 1 is equipped with drive shaft 4 and the two is rotatablely connected, by institute
Stating the first driving mechanism 2 drives the drive shaft 4 to rotate, and the first driving wheel 5 is arranged in the drive shaft 4 and the two rotation connects
It connects, drives first driving wheel 5 to rotate by second driving mechanism 3, it is outstanding that first is fixed on first driving wheel 5
Arm 6 is arranged with the first driving wheel 7 in the drive shaft 4 and the two is fixedly connected, first cantilever 6 be equipped with fixing axle 8 and
The two is fixedly connected, and the second driving wheel 9 is arranged in the fixing axle 8 and the two is fixedly connected, first driving wheel 7 and institute
The transmission connection of the second driving wheel 9 is stated, is fixed with the second cantilever 10 on second driving wheel 9, the is fixed in the fixing axle 8
Three driving wheels 11 and the two is fixedly connected, second cantilever 10 is equipped with the 4th driving wheel 12 and the two is rotatablely connected, described
Third driving wheel 11 and the 4th driving wheel 12 are sequentially connected, and the 4th driving wheel 12 is equipped with execution arm 13 and the two is solid
Fixed connection drives the execution arm 13 in default model by the cooperation of first driving mechanism 2 and second driving mechanism 3
Enclose interior translation.
It is described when the cooperation of first driving mechanism 2 and second driving mechanism 3 operates in above-mentioned manipulator
Second driving mechanism 3 drives first cantilever 6 to swing by first driving wheel 5, on this basis, first driving
Mechanism 2, which passes sequentially through the drive shaft 4, first driving wheel 7 and the second driving wheel 9, drives second cantilever 10 to swing,
In 10 swing process of the second cantilever, because the fixing axle 8 is fixedly connected with first cantilever 6, so that described second
Angular displacement occurs for the relatively described fixing axle 8 of cantilever 10, i.e., the described third driving wheel 11 is rotated relative to second cantilever 10, then is led to
Crossing the 4th driving wheel 12 drives the execution arm 13 to swing, when first driving mechanism 2 and second driving mechanism 3
When operating simultaneously, by the rotation direction and stroke of both control, first cantilever 6, second cantilever 10 and institute are driven
It states execution arm 13 and is rocked to designated position.For compared to the prior art, the present invention is without occupying larger space, and the present invention
Structure it is simpler, be easily achieved, therefore be suitble to promote and apply in automation equipment, and with good application prospect.
About the concrete composition of first driving mechanism 2, in the present embodiment, first driving mechanism 2 includes
One driving motor 20 and the first deceleration mechanism 21 are arranged with the second driving wheel 22 in the drive shaft 4 and the two are fixedly connected, institute
The first driving motor 20, the first deceleration mechanism 21 and the second driving wheel 22 is stated successively to be sequentially connected.
About the concrete composition of second driving mechanism 3, in the present embodiment, second driving mechanism 3 includes
Two driving motors 30 and the second deceleration mechanism 31, third driving wheel 32 is arranged in the drive shaft 4 and the two is rotatablely connected, institute
It states third driving wheel 32 to be fixedly connected with first driving wheel 5, second driving motor 30, the second deceleration mechanism 31 and institute
Third driving wheel 32 is stated successively to be sequentially connected.
First deceleration mechanism 21 and the second deceleration mechanism 31 are belt speed reducer structures as a preferred method,.
But this is only a preferred embodiment of the invention, is not intended to restrict the invention, and in other embodiments of the invention, institute
It states the first deceleration mechanism 21 and the second deceleration mechanism 31 can also be by gear mechanism etc. alternatively, and these alternatives belong to
In protection scope of the present invention.
In order to enable the structure of manipulator is more compact, and in the present embodiment, first driving wheel 7 and second transmission
Wheel 9 is respectively positioned in first cantilever 6, and first driving wheel 7 and second driving wheel 9 are divided into first cantilever
6 both ends.Further, it is connected between first driving wheel 7 and second driving wheel 9 by the first driving belt 14.
Equally, the third driving wheel 11 is respectively positioned in second cantilever 10 with the 4th driving wheel 12, and described
Third driving wheel 11 and the 4th driving wheel 12 are divided into the both ends of second cantilever 10.Further, the third passes
It is connected between driving wheel 11 and the 4th driving wheel 12 by the second driving belt 15.
About the positional relationship between each cantilever, in the present embodiment, first cantilever 6 is located at the top of the pedestal 1,
Second cantilever 10 is located at the top of first cantilever 6, the top for executing arm 13 and being located at second cantilever 10.
In order to better describe technical solution of the present invention, the invention also discloses a kind of execution sides of multi-arm manipulator
Method, in conjunction with shown in Fig. 1 to Fig. 5, the multi-arm machinery hand includes having pedestal 1, and the pedestal 1 is equipped with 2 He of the first driving mechanism
Second driving mechanism 3, the pedestal 1 is equipped with drive shaft 4 and the two is rotatablely connected, and drives by first driving mechanism 2
The drive shaft 4 rotates, and the first driving wheel 5 is arranged in the drive shaft 4 and the two is rotatablely connected, by second driving
Mechanism 3 drives first driving wheel 5 to rotate, and is fixed with the first cantilever 6 on first driving wheel 5, covers in the drive shaft 4
Equipped with the first driving wheel 7 and the two is fixedly connected, and first cantilever 6 is equipped with fixing axle 8 and the two is fixedly connected, described solid
It is arranged with the second driving wheel 9 on dead axle 8 and the two is fixedly connected, first driving wheel 7 connects with second driving wheel 9 transmission
It connects, the second cantilever 10 is fixed on second driving wheel 9, third driving wheel 11 is fixed in the fixing axle 8 and the two is solid
Fixed connection, second cantilever 10 is equipped with the 4th driving wheel 12 and the two is rotatablely connected, the third driving wheel 11 with it is described
The transmission connection of 4th driving wheel 12, the 4th driving wheel 12 is equipped with execution arm 13 and the two is fixedly connected, the side of execution
Method comprises the following processes:
When second driving mechanism 3 drives first driving wheel 5 to operate, first driving wheel 5 drives described
First cantilever 6 is swung；
When first driving mechanism 2 drives the drive shaft 4 to operate, the drive shaft 4 passes sequentially through described first
Driving wheel 7 and the second driving wheel 9 drive second cantilever 10 to swing, while the relatively described fixing axle 8 of second cantilever 10
Angular displacement is generated, the third driving wheel 11 drives the execution arm 13 to swing by the 4th driving wheel 12；
Drive the execution arm 13 default by the cooperation of first driving mechanism 2 and second driving mechanism 3
Translation in range.
Multi-arm manipulator disclosed by the invention and method is executed, by controlling first driving mechanism 2 and described the
Two driving mechanisms 3 operate simultaneously, the execution arm 13 can be driven to be moved to any position in horizontal space, and rely only on
Pedestal is played a supporting role, and the occupied space of manipulator is greatly saved, in addition, composed structure of the invention is fairly simple,
It is easy to be implemented in automation equipment, applies.
The above is preferred embodiments of the present invention, is not intended to restrict the invention, all in technology model of the invention
Interior done modification, equivalent replacement or improvement etc. are enclosed, should be included in the range of of the invention protect.
Claims (10)
1. a kind of multi-arm manipulator, which is characterized in that include pedestal (1), the pedestal (1) is equipped with the first driving mechanism
(2) it is equipped with drive shaft (4) and the two rotation connection, is driven by described first with the second driving mechanism (3), the pedestal (1)
Motivation structure (2) drives the drive shaft (4) to rotate, and the first driving wheel (5) is arranged on the drive shaft (4) and the two rotation connects
It connects, drives first driving wheel (5) to rotate by second driving mechanism (3), be fixed on first driving wheel (5)
First cantilever (6) is arranged with the first driving wheel (7) on the drive shaft (4) and the two is fixedly connected, first cantilever (6)
It is equipped with fixing axle (8) and the two is fixedly connected, the second driving wheel (9) and the fixed company of the two are arranged on the fixing axle (8)
It connects, first driving wheel (7) and second driving wheel (9) are sequentially connected, and are fixed with second on second driving wheel (9)
Cantilever (10) is fixed with third driving wheel (11) on the fixing axle (8) and the two is fixedly connected, on second cantilever (10)
Equipped with the 4th driving wheel (12) and the two is rotatablely connected, and the third driving wheel (11) and the 4th driving wheel (12) transmission connect
Connect, the 4th driving wheel (12), which is equipped with, to be executed arm (13) and the two and is fixedly connected, by first driving mechanism (2) with
The cooperation of second driving mechanism (3) drives the execution arm (13) to translate within a preset range.
2. multi-arm manipulator as described in claim 1, which is characterized in that first driving mechanism (2) includes the first drive
Motor (20) and the first deceleration mechanism (21) are moved, the second driving wheel (22) and the fixed company of the two are arranged on the drive shaft (4)
It connects, first driving motor (20), the first deceleration mechanism (21) and the second driving wheel (22) are successively sequentially connected.
3. multi-arm manipulator as claimed in claim 2, which is characterized in that second driving mechanism (3) includes the second drive
Motor (30) and the second deceleration mechanism (31) are moved, third driving wheel (32) is arranged on the drive shaft (4) and the two rotation connects
It connects, the third driving wheel (32) is fixedly connected with first driving wheel (5), and second driving motor (30), second subtract
Fast mechanism (31) and the third driving wheel (32) are successively sequentially connected.
4. multi-arm manipulator as claimed in claim 3, which is characterized in that first deceleration mechanism (21) and the second speed reducer
Structure (31) is belt speed reducer structure.
5. multi-arm manipulator as described in claim 1, which is characterized in that first driving wheel (7) and second transmission
Wheel (9) is respectively positioned in first cantilever (6), and first driving wheel (7) and second driving wheel (9) be divided into it is described
The both ends of first cantilever (6).
6. multi-arm manipulator as claimed in claim 5, which is characterized in that first driving wheel (7) and second transmission
It takes turns and is connected between (9) by the first driving belt (14).
7. multi-arm manipulator as described in claim 1, which is characterized in that the third driving wheel (11) and the 4th transmission
Wheel (12) is respectively positioned in second cantilever (10), and the third driving wheel (11) is divided into the 4th driving wheel (12)
The both ends of second cantilever (10).
8. multi-arm manipulator as claimed in claim 7, which is characterized in that the third driving wheel (11) and the 4th transmission
It takes turns and is connected between (12) by the second driving belt (15).
9. multi-arm manipulator as described in claim 1, which is characterized in that first cantilever (6) is located at the pedestal (1)
Top, second cantilever (10) are located at the top of first cantilever (6), and the execution arm (13) is located at second cantilever
(10) top.
10. a kind of execution method of multi-arm manipulator, which is characterized in that the multi-arm machinery hand includes having pedestal (1), the bottom
Seat (1) is equipped with the first driving mechanism (2) and the second driving mechanism (3), and the pedestal (1) is equipped with drive shaft (4) and the two
Rotation connection drives the drive shaft (4) to rotate by first driving mechanism (2), and the is arranged on the drive shaft (4)
One driving wheel (5) and the two rotation connection, drive first driving wheel (5) to rotate, institute by second driving mechanism (3)
It states and is fixed on the first driving wheel (5) the first cantilever (6), the first driving wheel (7) is arranged on the drive shaft (4) and the two is solid
Fixed connection, first cantilever (6) is equipped with fixing axle (8) and the two is fixedly connected, and is arranged with second on the fixing axle (8)
Driving wheel (9) and the two is fixedly connected, first driving wheel (7) and second driving wheel (9) are sequentially connected, and described second
It is fixed on driving wheel (9) the second cantilever (10), third driving wheel (11) and the fixed company of the two is fixed on the fixing axle (8)
It connects, second cantilever (10) is equipped with the 4th driving wheel (12) and the two is rotatablely connected, the third driving wheel (11) and institute
The transmission connection of the 4th driving wheel (12) is stated, the 4th driving wheel (12) is equipped with execution arm (13) and the two is fixedly connected, institute
Execution method is stated to comprise the following processes:
When second driving mechanism (3) drives first driving wheel (5) to operate, first driving wheel (5) drives institute
State the first cantilever (6) swing；
When first driving mechanism (2) drives the drive shaft (4) to operate, the drive shaft (4) passes sequentially through described the
One driving wheel (7) and the second driving wheel (9) drive second cantilever (10) to swing, while second cantilever (10) is with respect to institute
It states fixing axle (8) and generates angular displacement, the third driving wheel (11) drives the execution arm by the 4th driving wheel (12)
(13) it swings；
Drive the execution arm (13) pre- by the cooperation of first driving mechanism (2) and second driving mechanism (3)
If translation in range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910786155.5A CN110434842A (en) | 2019-08-23 | 2019-08-23 | A kind of multi-arm manipulator and execute method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910786155.5A CN110434842A (en) | 2019-08-23 | 2019-08-23 | A kind of multi-arm manipulator and execute method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434842A true CN110434842A (en) | 2019-11-12 |
Family
ID=68437417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910786155.5A Pending CN110434842A (en) | 2019-08-23 | 2019-08-23 | A kind of multi-arm manipulator and execute method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110434842A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4897015A (en) * | 1987-05-15 | 1990-01-30 | Ade Corporation | Rotary to linear motion robot arm |
| US5587637A (en) * | 1994-01-10 | 1996-12-24 | Tatsumo Kabushiki Kaisha | Robot arm device capable of conveying an article in circumferential and radial directions |
| JP2001096480A (en) * | 1999-09-28 | 2001-04-10 | Tatsumo Kk | Horizontal articulated industrial robot |
| CN210476948U (en) * | 2019-08-23 | 2020-05-08 | 东莞市万威自动化设备有限公司 | Multi-arm manipulator |
-
2019
- 2019-08-23 CN CN201910786155.5A patent/CN110434842A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4897015A (en) * | 1987-05-15 | 1990-01-30 | Ade Corporation | Rotary to linear motion robot arm |
| US5587637A (en) * | 1994-01-10 | 1996-12-24 | Tatsumo Kabushiki Kaisha | Robot arm device capable of conveying an article in circumferential and radial directions |
| JP2001096480A (en) * | 1999-09-28 | 2001-04-10 | Tatsumo Kk | Horizontal articulated industrial robot |
| US6593718B1 (en) * | 1999-09-28 | 2003-07-15 | Tazmo Co., Ltd. | Horizontal multi-joint industrial robot |
| CN210476948U (en) * | 2019-08-23 | 2020-05-08 | 东莞市万威自动化设备有限公司 | Multi-arm manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232661A (en) * | 2020-02-27 | 2020-06-05 | 枣庄市三维技术有限公司 | Multi-arm rotary loading manipulator and loading stacker thereof |
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