CN112549006A - Unhooking mechanical arm system - Google Patents
Unhooking mechanical arm system Download PDFInfo
- Publication number
- CN112549006A CN112549006A CN202011506471.1A CN202011506471A CN112549006A CN 112549006 A CN112549006 A CN 112549006A CN 202011506471 A CN202011506471 A CN 202011506471A CN 112549006 A CN112549006 A CN 112549006A
- Authority
- CN
- China
- Prior art keywords
- arm
- rod
- small
- hinged support
- unhooking
- 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.)
- Pending
Links
Images
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
- B25J9/023—Cartesian coordinate type
-
- 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
Abstract
The invention discloses a unhooking mechanical arm system which is arranged on a train unhooking position and used for unhooking a train carriage, and the unhooking mechanical arm system comprises: the fixed support is fixedly arranged on the train hook picking position; the linear module is arranged on the fixed support, and the action direction of the linear module is parallel to the train carriage; the mechanical arm is arranged on the linear module; and the executing mechanism is arranged at the front end of the mechanical arm and is used for executing the action of unhooking the train carriage. The flexible rod component with variable length and adjustable rigidity ensures that the front end actuator can correctly grab the handle posture, and when the front end load is overlarge, the load can be released by changing the length, so that the flexible rod component can adapt to the situations of various handles of a car hook, deformation of train parts and the like in the actual working condition; meanwhile, the mode of combining the aluminum two-shaft mechanical arm and the linear module is adopted, the unhooking action is completed, the miniaturization and the light weight of equipment are realized, the equipment cost is reduced, and the programming and debugging cost is reduced.
Description
Technical Field
The invention relates to the technical field of train open wagon conveying, in particular to a unhooking mechanical arm system.
Background
In the prior art, a mature six-axis mechanical arm is adopted to drive an actuating mechanism to carry out unhooking action of a train carriage, and the theory is feasible. However, the execution of the unhooking action track can be completed in one plane, only two rotational degrees of freedom and one linear degree of freedom are needed to meet the requirement, and the unhooking action track is not a space curve track. Although the six-axis mechanical arm is flexible in action, the whole machine is slightly heavy after the type selection according to the actual working condition, the economy is poor, and the control complexity is high.
In addition, the handle and unhooking actions of various vehicle types are different in actual carriage mixed-knitting transportation. In addition, the carriage handle has deformation, the error can often reach dozens of millimeters, even hundreds of millimeters, according to the difficult all operating mode of adaptation of established orbit, easily cause the unhooking failure.
In the case of a traditional mechanical arm with more than six shafts, the position and the direction of the front end in a space coordinate can be accurately controlled through a motor. When the front end is required to be only kept horizontal, the purpose can be achieved by additionally arranging a fixed connecting rod and mechanically moving the fixed connecting rod. The connecting rod connection has the advantages of simple structure and reduced equipment maintenance amount; the motor is saved, the cost and the power consumption are reduced, and the algorithm is greatly simplified. However, the connecting rod added to the existing mechanical arm is generally rigid, mainly plays a role in keeping the front end horizontal, and cannot meet the requirement of unhooking the train.
Disclosure of Invention
According to an embodiment of the present invention, there is provided a decoupling mechanical arm system, disposed on a train decoupling position, for decoupling a train car, including:
the fixed support is fixedly arranged on the train hook picking position;
the linear module is arranged on the fixed support, and the action direction of the linear module is parallel to the train carriage;
the mechanical arm is arranged on the linear module;
and the executing mechanism is arranged at the front end of the mechanical arm and is used for executing the action of unhooking the train carriage.
Further, the straight line module is high-speed high accuracy straight line drive mechanism, and the transmission mode of straight line module includes but not limited to: screw drive, rack and pinion drive, synchronous belt drive.
Further, the robot arm includes: the device comprises a two-axis mechanical arm, an upper hinged support, a lower hinged support, a large arm connecting rod mechanism and a small arm connecting rod mechanism;
the two-axis mechanical arm comprises a large arm, a small arm, a large arm drive and a small arm drive, wherein the large arm drive and the small arm drive are respectively connected with two ends of the large arm;
the large arm connecting rod mechanism is arranged on the large arm and is respectively connected with the lower hinged support and the upper hinged support;
the small arm connecting rod mechanism is arranged on the small arm and is respectively connected with the upper hinged support and the hinged point.
Further, the large arm link mechanism includes: the large arm flexible rod assembly is connected to the lower hinged support and the upper hinged support through the pair of large arm connecting rods, and the pair of large arm connecting rods, the large arm flexible rod assembly and the large arm form a parallelogram.
Further, the large arm flexible rod assembly comprises: the first fixed rod, the first guide sleeve, the first guide rod, the first movable rod, the first spring and the second spring;
the rear end of the first movable rod is connected with the lower hinged support;
the first guide sleeve is arranged at the front end of the first movable rod;
the first guide rod is arranged in the first movable rod, a first spring is arranged between the rear end of the first guide rod and the rear end of the first movable rod, and the front end of the first guide rod extends out of the front end of the first movable rod;
one end of the first fixed rod is connected with the upper hinged support, and the front end of the first guide rod is inserted into the other end of the first fixed rod;
the second spring is sleeved on the first guide rod;
the first guide rod, the first fixed rod and the first movable rod are in the same straight line.
Further, the large arm link mechanism includes: the large arm fixing rod is connected to the lower hinged support and the upper hinged support through the large arm connecting rods, and the pair of large arm connecting rods, the large arm fixing rod and the large arm form a parallelogram.
Further, the small arm link mechanism includes: the pair of small arm flexible rod assemblies respectively connect the small arm flexible rod assemblies to the upper hinged support and the hinged point, the small arm flexible rod assemblies extend along the small arm direction, and the pair of small arm connecting rods, the small arm flexible rod assemblies and the small arms form a parallelogram.
Further, the forearm flexible rod assembly includes: the second fixed rod, the second guide sleeve, the second guide rod, the second movable rod, the third spring and the fourth spring;
the rear end of the second movable rod is connected with the upper hinged support;
the second guide sleeve is arranged at the front end of the second movable rod;
the second guide rod is arranged in the second movable rod, a third spring is arranged between the rear end of the second guide rod and the rear end of the second movable rod, and the front end of the second guide rod extends out of the front end of the second movable rod;
one end of the second fixed rod is connected with the hinge point, and the front end of the second guide rod is inserted into the other end of the second fixed rod;
the fourth spring is sleeved on the second guide rod;
the second guide rod, the second fixed rod and the second movable rod are in the same straight line.
Further, the small arm link mechanism includes: the pair of small arm connecting rods are used for connecting the small arm fixing rods to the upper hinged support and the hinged point respectively, and the pair of small arm connecting rods, the small arm fixing rods and the small arms form a parallelogram.
According to the unhooking mechanical arm system provided by the embodiment of the invention, the correct handle-grabbing posture of the front end actuator is ensured through the flexible rod component with variable length and adjustable rigidity, and when the front end load is overlarge, the load can be released by changing the length, so that the unhooking mechanical arm system is suitable for various handles of a car hook in actual working conditions, and the deformation of train parts and the like; meanwhile, the mode of combining the aluminum two-shaft mechanical arm and the linear module is adopted, the unhooking action is completed, the miniaturization and the light weight of equipment are realized, the equipment cost is reduced, and the programming and debugging cost is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.
Drawings
Fig. 1 is a front view of a unhooking robot arm system according to an embodiment of the present invention;
FIG. 2 is a side view of an unhooking robot arm system according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of the large and small arm flexible rod assemblies of FIG. 1;
fig. 4 is an exploded view of the structure of fig. 3.
Detailed Description
The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.
First, a decoupling mechanical arm system according to an embodiment of the present invention will be described with reference to fig. 1 to 4, which is applied to a train decoupling position and has a wide application range.
As shown in fig. 1 and 2, the unhooking mechanical arm system of the embodiment of the invention is arranged on a train unhooking position and is used for unhooking a train carriage, and the unhooking mechanical arm system comprises a fixed support 1, a linear module 2, a mechanical arm and an actuating mechanism 4. As shown in fig. 1 and 2, the fixed support 1 is fixedly arranged on a train unhooking position, the linear module 2 is arranged on the fixed support 1, the action direction of the linear module 2 is parallel to a train carriage, the mechanical arm is arranged on the linear module 2, and the actuating mechanism 4 is arranged at the front end of the mechanical arm and used for executing the unhooking action of the train carriage.
Furthermore, the whole unhooking mechanical arm system provided by the embodiment of the invention adopts aluminum pieces, so that the equipment is light and the cost is reduced.
Specifically, the linear module 2 is a high-speed high-precision linear transmission mechanism, and the transmission mode thereof may be screw transmission, rack-and-pinion transmission, synchronous belt transmission, etc. in this embodiment, the linear module 2 is rack-and-pinion transmission, and the actuator 4 is a conventional unhooking actuator, which will not be described in detail in this embodiment.
Specifically, as shown in fig. 1 to 2, the robot arm includes: a two-axis mechanical arm, a large arm linkage 32, a small arm linkage 33, an upper hinge mount 34, and a lower hinge mount 35.
Further, as shown in fig. 1 to 2, the two-axis robot arm has a large arm 311, a small arm 312, a large arm drive 313 composed of a motor and a speed reducer, and a small arm drive 314 also composed of a motor and a speed reducer. Wherein, the big arm drive 313 is arranged on the lower hinged support 35, the small arm drive 314 is arranged on the upper hinged support 34, the lower hinged support 35 is arranged on the linear module 2, one end of the small arm 312 is connected with the upper hinged support 34, and the other end of the small arm 312 is movably connected with the actuating mechanism 4 through a hinged point 315; the large arm link mechanism 32 is arranged on the large arm 311, and the large arm link mechanism 32 is respectively connected with the lower hinged support 35 and the upper hinged support 34; the arm link mechanism 33 is provided on the arm 312, and the arm link mechanism 33 is connected to the upper hinge base 34 and the hinge point 315, respectively. In this embodiment, replace six-axis arm through the compound form of diaxon arm and sharp module, reduced manufacturing and use cost to the control complexity has been reduced.
Further, as shown in fig. 1 to 2, the large arm link mechanism 32 includes: the large arm flexible rod assembly 321 and the pair of large arm connecting rods 322, the pair of large arm connecting rods 322 connect the large arm flexible rod assembly 321 to the lower hinge base 35 and the upper hinge base 34 respectively, and the pair of large arm connecting rods 322, the large arm flexible rod assembly 321 and the large arm 311 form a parallelogram.
As shown in FIGS. 3-4, the large arm flexible rod assembly 321 includes: the first fixing rod 3211, a first guide sleeve 3212, a first guide rod 3213, a first movable rod 3214, and a first spring 3215 and a second spring 3216. Wherein, the rear end of the first movable rod 3214 is connected to the lower hinge base 35 through a large arm connecting rod 322; the first guide sleeve 3212 is disposed at a front end of the first movable rod 3214; the first guide rod 3213 is disposed in the first movable rod 3214, a first spring 3215 is disposed between a rear end of the first guide rod 3213 and a rear end of the first movable rod 3214, when the first fixing rod 3211 drives the first guide rod 3213 to move along the first movable rod 3214 toward the rear end thereof, the first spring 3215 is compressed, and a front end of the first guide rod 3213 extends out from a front end of the first movable rod 3214; one end of the first fixing rod 3211 is connected to the upper hinge base 34 through another large arm connecting rod 322, and the front end of the first guide rod 3213 is inserted into the other end of the first fixing rod 3211; the second spring 3216 is sleeved on the first guide rod 3213, and when the first fixing rod 3211 moves toward the rear end of the first movable rod 3214, the second spring 3216 is compressed; the first guide rod 3213, the first fixing rod 3211, and the first movable rod 3214 are collinear.
Further, as shown in fig. 1 to 2, the arm link mechanism 33 includes: the upper hinge base 34 and the hinge point 315 are respectively connected to the upper hinge base 331 and the upper hinge base 315 through the pair of arm connecting rods 332, the arm flexible rod assembly 331 extends along the direction of the arm 312, and the pair of arm connecting rods 332, the arm flexible rod assembly 331 and the arm 312 form a parallelogram.
As shown in fig. 3 to 4, the small arm flexible rod assembly 331 includes: a second fixing rod 3311, a second guide sleeve 3312, a second guide rod 3313, a second movable rod 3314, and third and fourth springs 3315 and 3316. Wherein, the rear end of the second movable rod 3314 is connected to the upper hinge base 34 through a small arm connecting rod 332; the second guide sleeve 3312 is provided at the front end of the second movable rod 3314; the second guide rod 3313 is disposed in the second movable rod 3314, a third spring 3315 is disposed between the rear end of the second guide rod 3313 and the rear end of the second movable rod 3314, when the second fixed rod 3311 drives the second guide rod 3313 to move along the second movable rod 3314 toward the rear end thereof, the third spring 3315 is compressed, and the front end of the second guide rod 3313 extends from the front end of the second movable rod 3314; one end of the second fixing rod 3311 is connected to the hinge point 315 through another arm connecting rod 332, and the front end of the second guide rod 3313 is inserted into the other end of the second fixing rod 3311; the fourth spring 3316 is sleeved on the second guide rod 3313, and compresses the fourth spring 3316 when the second fixed rod 3311 is toward the rear end of the second movable rod 3314; the second guide rod 3313, the second fixed rod 3311 and the second movable rod 3314 are collinear.
The springs of the flexible rod structures of the large arm link mechanism 32 and the small arm link mechanism 33 in the present embodiment are telescopically deformed and returned by the links having a highly elastically deformable and restorable shape, but in one embodiment, they can serve to maintain the flexibility while maintaining the level, that is, the front end is maintained at the level when the load is small. When the mechanical arm acts at a high speed, the front end can be ensured to be horizontal and stable, namely, the shaking is small, so that the execution clamping jaw at the front end and the detection equipment for accurate positioning can be ensured to be stable, and the unhooking execution and positioning accuracy can be ensured. But when the position deviation of the executed object (such as a handle) is larger, the executive performance and the unhooking success rate can be greatly improved through flexible adaptation.
In this embodiment, the large arm linkage 32 and the small arm linkage 33 may both be the flexible rod assemblies described above, or one may be a flexible rod assembly and the other may be a non-variable rod assembly.
Specifically, if the large arm linkage 32 is an invariable rod assembly, that is, the large arm linkage 32 includes: the large arm fixing rod is connected to the lower hinged support 35 and the upper hinged support 34 through the pair of large arm connecting rods, and the pair of large arm connecting rods, the large arm fixing rod and the large arm form a parallelogram.
Specifically, if the arm link mechanism 33 is an invariable lever assembly, the arm link mechanism 33 includes: the small arm fixing rod is connected to the upper hinged support 34 and the hinged point through the small arm connecting rods, and the pair of small arm connecting rods, the small arm fixing rod and the small arm form a parallelogram.
When the two-shaft mechanical arm works, when the large arm 311 and the small arm 312 of the two-shaft mechanical arm respectively act, the fixed rod of the large arm flexible rod component 321 and/or the small arm flexible rod component 331 drives the guide rod to move towards the rear end of the movable rod, and then the flexible action is realized through the two springs in the movable rod, so that when the load of the front end executing mechanism is overlarge, the load can be released in time; meanwhile, tension is applied to the hinge point 315 through a mechanical mode of the flexible rod assembly, so that the small arm 312 keeps acting force on the actuating mechanism 4, the working angle of the actuating mechanism 4 can be kept, actions with certain degrees of freedom can be completed, unnecessary mechanical degrees of freedom of the six-axis mechanical arm are optimized, and miniaturization of equipment is achieved.
In the above, referring to fig. 1 to 4, a unhooking mechanical arm system according to an embodiment of the present invention is described, a front end actuator is ensured to correctly grab a handle posture through a flexible rod assembly with variable length and adjustable rigidity, and when a front end load is too large, the load can be released by changing the length, so that the system adapts to various handles of a car hook in an actual working condition, and the deformation of train parts and the like; meanwhile, the mode of combining the aluminum two-shaft mechanical arm and the linear module is adopted, the unhooking action is completed, the miniaturization and the light weight of equipment are realized, the equipment cost is reduced, and the programming and debugging cost is reduced.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. The utility model provides a unhook arm system, sets up on the train hook position for railway carriage unhook, its characterized in that contains:
the fixed support is fixedly arranged on the train hook picking position;
the linear module is arranged on the fixed support, and the action direction of the linear module is parallel to the train carriage;
the mechanical arm is arranged on the linear module;
and the executing mechanism is arranged at the front end of the mechanical arm and is used for executing the action of unhooking the train carriage.
2. A decoupling robot arm system as in claim 1 wherein said linear modules are high speed high precision linear actuators, said linear modules being actuated in a manner including but not limited to: screw drive, rack and pinion drive, synchronous belt drive.
3. A decoupling robot arm system as in claim 1 wherein said robot arm comprises: the device comprises a two-axis mechanical arm, an upper hinged support, a lower hinged support, a large arm connecting rod mechanism and a small arm connecting rod mechanism;
the two-axis mechanical arm comprises a large arm, a small arm, a large arm drive and a small arm drive, the large arm drive and the small arm drive are respectively connected with two ends of the large arm, the large arm is connected with the lower hinged support and arranged on the linear module, one end of the small arm is connected with the upper hinged support, and the other end of the small arm is movably connected with the actuating mechanism through a hinged point;
the large arm connecting rod mechanism is arranged on the large arm and is respectively connected with the lower hinged support and the upper hinged support;
the small arm connecting rod mechanism is arranged on the small arm and is respectively connected with the upper hinged support and the hinged point.
4. A decoupling robot arm system as in claim 3 wherein said large arm linkage comprises: the pair of large arm connecting rods are used for connecting the large arm flexible rod assemblies to the lower hinged support and the upper hinged support respectively, and the pair of large arm connecting rods, the large arm flexible rod assemblies and the large arms form a parallelogram.
5. The unhooking robot arm system of claim 4, wherein said large arm flexible rod assembly comprises: the first fixed rod, the first guide sleeve, the first guide rod, the first movable rod, the first spring and the second spring;
the rear end of the first movable rod is connected with the lower hinged support;
the first guide sleeve is arranged at the front end of the first movable rod;
the first guide rod is arranged in the first movable rod, a first spring is arranged between the rear end of the first guide rod and the rear end of the first movable rod, and the front end of the first guide rod extends out of the front end of the first movable rod;
one end of the first fixing rod is connected with the upper hinged support, and the front end of the first guide rod is inserted into the other end of the first fixing rod;
the second spring is sleeved on the first guide rod;
the first guide rod, the first fixed rod and the first movable rod are in the same straight line.
6. An unhooking robot arm system according to claim 4, wherein said large arm linkage comprises: the pair of large arm connecting rods are used for connecting the large arm fixing rods to the lower hinged support and the upper hinged support respectively, and the pair of large arm connecting rods, the large arm fixing rods and the large arms form a parallelogram.
7. A decoupling robot arm system as in claim 3 wherein said small arm linkage comprises: the pair of small arm connecting rods are used for connecting the small arm flexible rod assemblies to the upper hinged support and the hinged point respectively, the small arm flexible rod assemblies extend in the small arm direction, and the pair of small arm connecting rods, the small arm flexible rod assemblies and the small arms form a parallelogram.
8. The unhooking robot arm system of claim 7, wherein said small arm flexible rod assembly comprises: the second fixed rod, the second guide sleeve, the second guide rod, the second movable rod, the third spring and the fourth spring;
the rear end of the second movable rod is connected with the upper hinged support;
the second guide sleeve is arranged at the front end of the second movable rod;
the second guide rod is arranged in the second movable rod, a third spring is arranged between the rear end of the second guide rod and the rear end of the second movable rod, and the front end of the second guide rod extends out of the front end of the second movable rod;
one end of the second fixing rod is connected with the hinge point, and the front end of the second guide rod is inserted into the other end of the second fixing rod;
the fourth spring is sleeved on the second guide rod;
the second guide rod, the second fixed rod and the second movable rod are in the same straight line.
9. The unhooking robot system of claim 7, wherein said small arm linkage comprises: the pair of small arm connecting rods are used for connecting the small arm fixing rods to the upper hinged support and the hinged point respectively, and the pair of small arm connecting rods, the small arm fixing rods and the small arms form a parallelogram.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011506471.1A CN112549006A (en) | 2020-12-18 | 2020-12-18 | Unhooking mechanical arm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011506471.1A CN112549006A (en) | 2020-12-18 | 2020-12-18 | Unhooking mechanical arm system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112549006A true CN112549006A (en) | 2021-03-26 |
Family
ID=75030446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011506471.1A Pending CN112549006A (en) | 2020-12-18 | 2020-12-18 | Unhooking mechanical arm system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112549006A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942539A (en) * | 2021-05-07 | 2022-01-18 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
| CN116330314A (en) * | 2023-03-24 | 2023-06-27 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
-
2020
- 2020-12-18 CN CN202011506471.1A patent/CN112549006A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942539A (en) * | 2021-05-07 | 2022-01-18 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
| CN113942539B (en) * | 2021-05-07 | 2022-12-16 | 北京汇力智能科技有限公司 | Unhooking and re-hooking robot and unhooking operation method thereof |
| CN116330314A (en) * | 2023-03-24 | 2023-06-27 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
| CN116330314B (en) * | 2023-03-24 | 2023-10-20 | 武汉道翔电力科技有限公司 | Special mechanical arm for unhooking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112549006A (en) | Unhooking mechanical arm system | |
| CN109909976B (en) | Symmetrical space stereo micro-manipulator with three-stage motion amplifying mechanism | |
| US11220001B2 (en) | Articulated robot | |
| CN102699925B (en) | Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope | |
| CN106737600B (en) | A kind of seven freedom transfer robot containing ball-screw moving platform | |
| CN103192364A (en) | Improved Delta parallel mechanism robot | |
| WO2003055653A1 (en) | Planar parallel robot mechanism with two translational degrees of freedom | |
| CN108621130A (en) | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R | |
| CN102145815A (en) | Spatial four-degree-of-freedom controllable palletizing robot | |
| CN108714910B (en) | Tail end clamp holder adopting space link mechanism | |
| CN214265574U (en) | Unhooking mechanical arm system | |
| CN102881338B (en) | 1T2R parallel three-degree-of-freedom pose alignment platform | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN103231362A (en) | Parallel robot | |
| CN103895008A (en) | Space three-dimensional translation parallel robot mechanism only containing revolute pairs | |
| CN103895007A (en) | Two-translational-motion parallel robot | |
| Brogårdh et al. | Application-oriented development of parallel kinematic manipulators with large workspace | |
| JP2021505419A (en) | Planar articulated robot arm system | |
| CN103273482A (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN106903495A (en) | A kind of robot mechanism that assembly manipulation is directed at for heavy parts | |
| CN209533385U (en) | The continuous humanoid robot of parallel connection, continuous type mechanical arm in parallel | |
| CN109590707B (en) | Plugging device for mesh optical fiber jumper wire interface | |
| CN203171620U (en) | Modified type Delta parallel mechanism robot | |
| CN113547509A (en) | Four-degree-of-freedom parallel mechanism | |
| CN211192743U (en) | Modular assembly line for lens |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |