CN111775157B - Rotary lifting mechanism of horizontal joint robot - Google Patents
Rotary lifting mechanism of horizontal joint robot Download PDFInfo
- Publication number
- CN111775157B CN111775157B CN201910265249.8A CN201910265249A CN111775157B CN 111775157 B CN111775157 B CN 111775157B CN 201910265249 A CN201910265249 A CN 201910265249A CN 111775157 B CN111775157 B CN 111775157B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rotary lifting mechanism of a horizontal joint robot.A hollow shaft is connected with a small-arm belt conveyor at the upper end and inserted into a rotary cylinder at the lower end; the conductive sliding ring is sleeved on the rotating cylinder, the rotary motor is arranged on the shell and is connected with the upper end of an internal rotating part of the conductive sliding ring through a rotary transmission mechanism, the lower end of the internal rotating part is connected with the rotating cylinder, an external fixing part is fixedly connected on the shell, and a lip-shaped sealing ring is arranged below the conductive sliding ring; the upper pressing ring is arranged on the inner rotating part, the lower gasket is relatively fixed with the rotating cylinder, and a sealing flexible ring is arranged between the upper pressing ring and the lower gasket; the lifting motor is arranged on the small arm and is connected with the lifting piece through the lifting transmission mechanism, the lifting piece is driven to drive the rotary cylinder to lift relative to the hollow shaft, and dynamic sealing is achieved between the rotary cylinder and the hollow shaft through the upper pressing ring, the sealing flexible ring and the lower gasket. The invention contributes to the miniaturization of the joint speed reducing mechanism, the joint sealing and the improvement of the cleanliness grade of equipment.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a rotary lifting mechanism of a horizontal joint robot, which is suitable for a screening robot system and can be used for an automatic screening link in wine industry production.
Background
The screening robot system is used for automatic screening link application in the wine industry and is an important component of an integral project. Because the upper screening robot system is one of the automatic upper screening devices, a complete set of automatic wine material upper screening and distillation work can be completed by matching with a mixer, a conveyor, an automatic switch screening pot cover, an automatic steam control system and the like. The upper screening robot system comprises a four-axis main body robot system, a large arm, a small arm, a tail end feeder system, an infrared sensing system and an ultrasonic system, when the upper screening robot system works, a four-axis robot joint is responsible for screening the paving track in a pot to realize, the large arm, the small arm and the tail end feeder system are responsible for uniformly conveying wine materials to the paving track in the pot, and meanwhile, the infrared sensing system and the ultrasonic system are assisted for detecting gas and height in the feeding process, so that the gas leakage and the uneven stacking of the wine material density are avoided.
For a food-grade robot containing a steam link, the conventional swing mechanism is applied, so that the environmental adaptability is poor. In the swing mechanism joint of the horizontal joint robot, the lip-shaped sealing ring of the speed reducer is sealed by deforming the lip under the action of hydraulic pressure so that the lip is tightly attached to the sealing surface. The higher the hydraulic pressure is, the tighter the lip edge is attached to the sealing surface, and the lip edge has certain automatic compensation capability after being worn. Such seals are commonly used for reciprocating and rotary seals. In order to ensure good sealing performance of a hydraulic system, basic requirements on a sealing device are as follows, when relative movement exists, the friction force caused by a sealing element needs to be small, the friction coefficient needs to be stable, the sealing device has good sealing performance within a certain pressure and temperature range, the sealing degree can be automatically improved along with the increase of the pressure, the structure is simple, the use and the maintenance are convenient, the cost is low, the corrosion resistance is strong, the aging is not easy, the wear resistance is good, the automatic compensation can be realized to a certain degree after the abrasion, and the service life is long. The tail end of the upper discriminating robot system needs to perform rotation and telescopic coupling motion, and belongs to a cylindrical pair; the sealing corresponding to the conventional lip-shaped sealing ring only deals with the rotary motion and does not have the linear telescopic motion, and the flanging failure probability can exist if the sealing is forcibly used. The conventional lip-shaped sealing ring contains a metal framework and a tightening spring besides rubber, so that the conventional lip-shaped sealing ring is not suitable for a cylindrical motion pair and only suitable for the motion of a rotating pair.
Disclosure of Invention
In order to solve the above problems of the conventional swing mechanism, the present invention provides a swing lifting mechanism of a horizontal joint robot.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a lifting piece, a hollow shaft, a rotary motor, a rotary transmission mechanism, a conductive slip ring, a lip-shaped sealing ring, a rotary cylinder, a lower gasket, a sealing flexible ring, an upper pressing ring, a lifting motor and a lifting transmission mechanism, wherein the upper end of the hollow shaft is connected with a small arm belt conveyor arranged on a small arm of a horizontal joint robot, and the lower end of the hollow shaft is inserted into the rotary cylinder; the lifting piece comprises a shell and a conductive sliding ring accommodated in the shell, the conductive sliding ring is sleeved on the rotating cylinder, the rotary motor is arranged on the shell and is connected with the upper end of an internal rotating part of the conductive sliding ring through a rotary transmission mechanism, the lower end of the internal rotating part of the conductive sliding ring is connected with the rotating cylinder, an external fixing part of the conductive sliding ring is fixedly connected on the shell, and a lip-shaped sealing ring positioned between the shell and the rotating cylinder is arranged below the conductive sliding ring; the upper pressing ring is arranged on an internal rotating part of the conductive sliding ring, the lower gasket is relatively fixed with the rotating cylinder, and a sealing flexible ring is arranged between the upper pressing ring and the lower gasket; the lifting motor is arranged on the small arm and is connected with the lifting piece through a lifting transmission mechanism to drive the lifting piece to drive the rotating cylinder to lift relative to the hollow shaft, the rotating motor drives the rotating cylinder to rotate relative to the hollow shaft through a rotating transmission mechanism, and dynamic sealing is realized between the rotating cylinder and the hollow shaft through the upper pressing ring, the sealing flexible ring and the lower gasket;
wherein: the hollow shaft is in a dumbbell shape, namely the upper end of the hollow shaft is provided with a hollow shaft upper flange connected with the forearm belt conveyor, the lower end of the hollow shaft is provided with a hollow shaft lower flange, and the inner surface of the hollow shaft is a smooth surface without blocking;
the lower end of the hollow shaft is connected with a brush which is in contact with the inner surface of the rotary cylinder;
the sealing flexible ring is an annular air bag, and air is filled in the sealing flexible ring;
the rotary transmission mechanism is accommodated in the shell and comprises a pinion and a hollow bull gear, the pinion is connected to an output shaft of the rotary motor, the hollow bull gear is connected with the upper end of an internal rotating part of the conductive slip ring, and the hollow shaft penetrates through the middle of the hollow bull gear;
the upper surface of the hollow bull gear is provided with a groove, the upper pressing ring is accommodated in the groove and fixedly connected with the upper end of the internal rotating part of the conductive slip ring together with the hollow bull gear through a screw;
the upper surface of the sealing flexible ring is abutted with the upper pressing ring, the lower surface of the sealing flexible ring is abutted with the lower gasket, the inner surface of the sealing flexible ring is abutted with the hollow shaft, and the outer surface of the sealing flexible ring is abutted with the inner surface of the hollow bull gear;
the lifting transmission mechanism comprises a synchronous belt transmission mechanism, a lead screw and a nut, the lead screw is rotatably installed in the small arm, one end of the lead screw is connected with an output shaft of the lifting motor through the synchronous belt transmission mechanism, and the lead screw is connected with the nut connected with the shell in a threaded mode.
The invention has the advantages and positive effects that:
1. the rotary cylinder can rotate and lift, the upper pressing ring, the sealing flexible ring and the lower gasket are matched with the lip-shaped sealing ring for sealing, the use requirement of a cylindrical pair is met, the miniaturization of a joint speed reducing mechanism is facilitated, the joint sealing is facilitated, and the cleanliness grade of equipment is improved.
2. The invention does not need to consider the rubber, the metal framework and the tightening spring in the lip-shaped sealing ring in the structural design, and only needs to consider the rubber structure, thereby being beneficial to the miniaturization of the joint speed reducing mechanism and leading the internal operation space to be more reasonable.
3. The sealing flexible ring is of an external rubber and internal air cavity structure, is low in cost and high in size adaptability, and does not need a lip-shaped sealing ring with a standard diameter.
4. Compared with the combination of a rotary seal and a linear corrugated pipe in an alternative scheme, the sealing flexible ring provided by the invention has the advantages that the number of parts is small, the probability of generation of pollution particles is reduced, the linear corrugated pipe has certain loss on the lifting height, the sealing flexible ring can compress the stroke in the linear expansion direction, the performance index is improved, and finally, the sealing flexible ring is simple and convenient for low-cost mass production.
5. The sealing flexible ring improves tolerance hiding degree of a processing surface, and the requirements on cylindricity of processing related to a cylindrical pair, such as a lifting piece, a hollow shaft, a lower gasket, an upper pressing ring, a hollow large gear, an internal rotating part of a conductive sliding ring, a rotating cylinder and the like, can be reduced because the sealing flexible ring is an elastic body, so that the cost is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a left side view of the structure of the present invention;
FIG. 4 is a top view of the structure of the present invention;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 6 is a cross-sectional view taken at C-C of FIG. 4;
FIG. 7 is an enlarged view of a portion of FIG. 6 at D;
FIG. 8 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 9 is an enlarged view of a portion E of FIG. 8;
wherein: the device comprises a base 1, a large arm 2, a small arm 3, a lifting piece 4, a hollow shaft 5, a rotary motor 6, a pinion 7, a hollow large gear 8, a conductive sliding ring 9, a lip-shaped sealing ring 10, a rotary cylinder 11, a hollow shaft lower flange 12, a brush 13, a throwing belt conveyor 14, a lower gasket 15, a sealing flexible ring 16, an upper pressing ring 17, a lifting motor 18, a small belt wheel 19, a synchronous belt 20, a large belt wheel 21, a lead screw 22, a screw nut 23, a guide rail 24, a sliding block 25, a small arm belt conveyor 26, a shell 27, a hollow shaft upper flange 28 and a sliding table 29.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the horizontal joint robot of the present invention includes a base 1, a large arm 2, a small arm 3, and a small arm belt conveyor 26, wherein the lower end of the base 1 is fixed, one end of the large arm 2 is rotatably connected to the upper end of the base 1 and can perform horizontal rotation movement with respect to the base 1, one end of the small arm 3 is rotatably connected to the other end of the large arm 2 and can perform horizontal rotation movement with respect to the large arm 2, the other end of the small arm 3 is provided with a slide table 29, and the small arm belt conveyor 26 is fixed to the small arm 3.
As shown in fig. 1 to 9, the present invention includes a lifting member 4, a hollow shaft 5, a rotary motor 6, a rotary transmission mechanism, a conductive slip ring 9, a lip-shaped seal ring 10, a rotary cylinder 11, a brush 13, a lower gasket 15, a sealing flexible ring 16, an upper pressing ring 17, a lifting motor 18 and a lifting transmission mechanism, wherein the upper end of the hollow shaft 5 needs to be fixed, the lower end needs to be fixed with the brush 13, the inner side between the upper end and the lower end of the hollow shaft 5 is hollow and cannot be blocked (blocking may cause residue retention, and the hollow shaft 5 deteriorates in a hot steam environment for a long time), so the hollow shaft 5 of the present embodiment is dumbbell-shaped; that is, the upper end of the hollow shaft 5 is provided with a hollow shaft upper flange 28 fixedly connected with the small arm belt conveyor 26, the lower end is inserted into the rotary cylinder 11, and is provided with a hollow shaft lower flange 12, the hollow shaft lower flange 12 is fixedly connected with a brush 13, the brush 13 is contacted with the inner surface of the rotary cylinder 11, and the inner surface of the hollow shaft 5 is a smooth surface without obstruction.
The lifting piece 4 comprises a shell 27 and a conductive slip ring 9 accommodated in the shell 27, and the conductive slip ring 9 is sleeved on the rotary cylinder 11; the conductive slip ring 9 of the present embodiment is a conventional one, and includes an inner rotating portion and an outer fixed portion. The upper end of the rotary cylinder 11 penetrates through the bottom of the casing 27 and is positioned in the casing 27, and the upper end of the hollow shaft 5 penetrates through the top of the casing 27. The rotary motor 6 is fixed on the casing 27 and connected with the upper end of the inner rotating part of the conductive slip ring 9 through the rotary transmission mechanism, the lower end of the inner rotating part of the conductive slip ring 9 is connected with the upper end of the rotary cylinder 11, the outer fixed part of the conductive slip ring 9 is fixedly connected on the bottom surface of the casing 27, and the lip-shaped sealing ring 10 positioned between the casing 27 and the rotary cylinder 11 is arranged below the conductive slip ring 9. An upper pressing ring 17 is arranged on an inner rotating part of the conductive sliding ring 9, a lower gasket 15 is fixed relative to the rotating cylinder 11, and a sealing flexible ring 16 is arranged between the upper pressing ring 17 and the lower gasket 15. The rotary transmission mechanism of the present embodiment is accommodated in the housing 27, and includes a small gear 7 and a hollow large gear 8, the small gear 7 is connected to an output shaft of the rotary motor 6, the hollow large gear 8 is connected to an upper end of an internal rotating portion of the conductive slip ring 9, and the hollow shaft 5 passes through the middle of the hollow large gear 8. The upper surface of the hollow big gear 8 is provided with a groove, the upper pressing ring 17 is accommodated in the groove and fixedly connected with the upper end of the internal rotating part of the conductive sliding ring 9 together with the hollow big gear 8 through screws. The sealing flexible ring 16 is an annular air bag, namely, the outer part is rubber, and the inner part is an air cavity. The upper surface of the sealing flexible ring 16 abuts against the upper pressing ring 17, the lower surface abuts against the lower gasket 15, the inner surface abuts against the hollow shaft 5, and the outer surface abuts against the inner surface of the hollow bull gear 8. The rotary motor 6 drives the rotary cylinder 11 to rotate relative to the hollow shaft 5 through a rotary transmission mechanism, and dynamic sealing is realized between the rotary cylinder 11 and the hollow shaft 5 through an upper pressing ring 17, a sealing flexible ring 16 and a lower gasket 15. The lower end of the rotary drum 11 is provided with a throwing belt conveyor 14.
The lifting motor 18 is arranged on the small arm 3 and is connected with the lifting piece 4 through a lifting transmission mechanism, and the lifting piece 4 is driven to drive the rotary cylinder 11 to do vertical lifting linear motion relative to the hollow shaft 5 and the small arm 3. Lifting drive mechanism includes synchronous belt drive mechanism, lead screw 22 and screw 23, and synchronous belt drive mechanism includes little band pulley 19, hold-in range 20 and big band pulley 21, and lead screw 22 rotates to be installed in forearm 3, and one end is connected with big band pulley 21, and little band pulley 19 is connected in elevator motor 18's output shaft to link to each other with big band pulley 21 through hold-in range 20, threaded connection has screw 23 on lead screw 22, and screw 23 is worn out by slip table 29, and with shell 27 rigid coupling. Two parallel guide rails 24 are symmetrically installed on the sliding tables 29 on two sides of the nut 23, correspondingly, two sliding blocks 25 are fixedly connected to the housing 27, and each sliding block 25 is slidably connected with one guide rail 24.
The working principle of the invention is as follows:
the lifting motor 18 works, the shell 27 is driven to lift through the lead screw 22 and the nut 23, the shell 27 is fixedly connected with an external fixed part of the conductive sliding ring 9, an internal rotating part of the conductive sliding ring 9 is fixedly connected with the rotary cylinder 11, and therefore the rotary cylinder 11 and the throwing belt conveyor 14 connected with the lower end of the rotary cylinder 11 are driven to do vertical lifting linear motion relative to the fixed hollow shaft 5. The rotary motor 6 works, the rotary cylinder 11 is driven to do horizontal rotation motion relative to the hollow shaft 5 through the pinion 7 and the hollow bull gear 8, and then the rotary cylinder 11 drives the throwing belt conveyor 14 to rotate horizontally. In the process of lifting or rotating the rotary drum 11, the brush 13 arranged at the lower end of the hollow shaft 5 cleans the inner surface of the rotary drum 11, and residues are prevented from being retained.
Firstly, because the material throwing belt conveyor 14 at the tail end of the upper screening robot system needs to perform rotation and telescopic coupling motion relative to the small arm 3, the upper screening robot system belongs to a cylindrical pair; the seal corresponding to the lip seal 10 only deals with the rotational motion and cannot deal with the linear telescopic motion, and if the lip seal is forcibly used, there may be a probability of the flange failure (the rubber part mold is made, there is a mold clamping, if the clamping contacts the moving part, the seal fails, and dust and particles are generated). Secondly, the existing sealing ring cannot be effectively installed, and the rubber sheet for sealing the flexible ring 14 is thinner than the existing sealing ring, so that the engineering application can be effectively completed by adopting elastic deformation. The inner side of the sealing flexible ring 16 and the outer surface of the cylindrical part in the middle of the dumbbell shape of the hollow shaft 5 are in cylindrical pair sliding, and the dynamic sealing of the relative coupling motion of the rotary cylinder 11 and the small arm 3 on the relative motion horizontal rotation and linear up and down two degrees of freedom is maintained. The flange of the rotary motor 6 is fixed on the shell 27, and the output rotary motion of the rotary motor 6 passes through the rotary gear mechanical motion pair of the small gear 7 and the hollow big gear 8, so that the rotary cylinder 11 can horizontally rotate relative to the lifting piece 4. The rotary drum 11 forms a rotary pair mechanism configuration with the lifting piece 4 through the conductive slip ring 9. The rotary cylinder 11 and the lifter 4 form a rotary pair dynamic seal through the lip-shaped seal ring 10.
Claims (3)
1. The utility model provides a gyration elevating system of horizontal joint robot which characterized in that: the device comprises a lifting piece (4), a hollow shaft (5), a rotary motor (6), a rotary transmission mechanism, a conductive slip ring (9), a lip-shaped sealing ring (10), a rotary cylinder (11), a lower gasket (15), a sealing flexible ring (16), an upper pressing ring (17), a lifting motor (18) and the lifting transmission mechanism, wherein the upper end of the hollow shaft (5) is connected with a small arm belt conveyor (26) arranged on a small arm (3) of the horizontal joint robot, and the lower end of the hollow shaft is inserted into the rotary cylinder (11); the lifting piece (4) comprises a shell (27) and a conductive sliding ring (9) accommodated in the shell (27), the conductive sliding ring (9) is sleeved on the rotary cylinder (11), the rotary motor (6) is installed on the shell (27) and is connected with the upper end of an internal rotating part of the conductive sliding ring (9) through a rotary transmission mechanism, the lower end of the internal rotating part of the conductive sliding ring (9) is connected with the rotary cylinder (11), an external fixing part of the conductive sliding ring (9) is fixedly connected on the shell (27), and a lip-shaped sealing ring (10) positioned between the shell (27) and the rotary cylinder (11) is arranged below the conductive sliding ring (9); the upper pressing ring (17) is arranged on an internal rotating part of the conductive sliding ring (9), the lower gasket (15) is relatively fixed with the rotating cylinder (11), and a sealing flexible ring (16) is arranged between the upper pressing ring (17) and the lower gasket (15); the lifting motor (18) is arranged on the small arm (3) and is connected with the lifting part (4) through a lifting transmission mechanism, the lifting part (4) is driven to drive the rotary cylinder (11) to lift relative to the hollow shaft (5), the rotary motor (6) drives the rotary cylinder (11) to rotate relative to the hollow shaft (5) through the rotary transmission mechanism, and dynamic sealing is realized between the rotary cylinder (11) and the hollow shaft (5) through the upper pressing ring (17), the sealing flexible ring (16) and the lower gasket (15);
the hollow shaft (5) is in a dumbbell shape, namely, the upper end of the hollow shaft (5) is provided with a hollow shaft upper flange (28) connected with a small arm belt conveyor (26), the lower end of the hollow shaft (5) is provided with a hollow shaft lower flange (12), and the inner surface of the hollow shaft (5) is a smooth surface without blocking;
the lower end of the hollow shaft (5) is connected with a brush (13), and the brush (13) is in contact with the inner surface of the rotary cylinder (11);
the rotary transmission mechanism is accommodated in the shell (27) and comprises a small gear (7) and a hollow large gear (8), the small gear (7) is connected to an output shaft of the rotary motor (6), the hollow large gear (8) is connected with the upper end of an internal rotating part of the conductive sliding ring (9), and the hollow shaft (5) penetrates through the middle of the hollow large gear (8);
the upper surface of the hollow bull gear (8) is provided with a groove, the upper pressing ring (17) is accommodated in the groove and fixedly connected with the upper end of the internal rotating part of the conductive sliding ring (9) together with the hollow bull gear (8) through a screw;
the upper surface of the sealing flexible ring (16) is abutted with the upper pressing ring (17), the lower surface of the sealing flexible ring is abutted with the lower gasket (15), the inner surface of the sealing flexible ring is abutted with the hollow shaft (5), and the outer surface of the sealing flexible ring is abutted with the inner surface of the hollow bull gear (8).
2. The swing elevating mechanism of a horizontal joint robot according to claim 1, characterized in that: the sealing flexible ring (16) is an annular air bag, and air is filled in the sealing flexible ring.
3. The swing elevating mechanism of a horizontal joint robot according to claim 1, characterized in that: the lifting transmission mechanism comprises a synchronous belt transmission mechanism, a lead screw (22) and a nut (23), the lead screw (22) is rotatably installed in the small arm (3), one end of the lead screw is connected with an output shaft of the lifting motor (18) through the synchronous belt transmission mechanism, and the lead screw (22) is connected with the nut (23) connected with the shell (27) in a threaded manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265249.8A CN111775157B (en) | 2019-04-03 | 2019-04-03 | Rotary lifting mechanism of horizontal joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265249.8A CN111775157B (en) | 2019-04-03 | 2019-04-03 | Rotary lifting mechanism of horizontal joint robot |
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| Publication Number | Publication Date |
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| CN111775157A CN111775157A (en) | 2020-10-16 |
| CN111775157B true CN111775157B (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910265249.8A Active CN111775157B (en) | 2019-04-03 | 2019-04-03 | Rotary lifting mechanism of horizontal joint robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112873193A (en) * | 2021-01-13 | 2021-06-01 | 伯朗特机器人股份有限公司 | High-precision heavy-load six-axis universal robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH03103673A (en) * | 1989-09-16 | 1991-04-30 | Japan Steel Works Ltd:The | Rise and fall body seal structure |
| CN201723713U (en) * | 2009-11-27 | 2011-01-26 | 陈兆红 | Sealing device for hydraulic cylinder |
| CN202149336U (en) * | 2011-01-28 | 2012-02-22 | 上海市东方海事工程技术有限公司 | Dynamic-seal rotary lifting device |
| CN105370207A (en) * | 2015-11-30 | 2016-03-02 | 西安石油大学 | Dynamic directional rotary steerable drilling tool |
| CN205817848U (en) * | 2016-06-07 | 2016-12-21 | 昆明理工大学 | A kind of four-degree-of-freedom SCARA robot |
| CN206475172U (en) * | 2016-11-24 | 2017-09-08 | 上海交通大学 | A kind of five degree of freedom spray robot |
-
2019
- 2019-04-03 CN CN201910265249.8A patent/CN111775157B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03103673A (en) * | 1989-09-16 | 1991-04-30 | Japan Steel Works Ltd:The | Rise and fall body seal structure |
| CN201723713U (en) * | 2009-11-27 | 2011-01-26 | 陈兆红 | Sealing device for hydraulic cylinder |
| CN202149336U (en) * | 2011-01-28 | 2012-02-22 | 上海市东方海事工程技术有限公司 | Dynamic-seal rotary lifting device |
| CN105370207A (en) * | 2015-11-30 | 2016-03-02 | 西安石油大学 | Dynamic directional rotary steerable drilling tool |
| CN205817848U (en) * | 2016-06-07 | 2016-12-21 | 昆明理工大学 | A kind of four-degree-of-freedom SCARA robot |
| CN206475172U (en) * | 2016-11-24 | 2017-09-08 | 上海交通大学 | A kind of five degree of freedom spray robot |
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| CN111775157A (en) | 2020-10-16 |
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