CN112576646B - Construction robot's drive arrangement and material loading machine that has it - Google Patents
Construction robot's drive arrangement and material loading machine that has it Download PDFInfo
- Publication number
- CN112576646B CN112576646B CN201910936898.6A CN201910936898A CN112576646B CN 112576646 B CN112576646 B CN 112576646B CN 201910936898 A CN201910936898 A CN 201910936898A CN 112576646 B CN112576646 B CN 112576646B
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- driving
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- mechanical arm
- wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/11—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric clutches
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
- F16D48/064—Control of electrically or electromagnetically actuated clutches
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a driving device of a construction robot and a feeding machine with the same, wherein the driving device comprises: the driving motor is connected with a driving shaft, the plurality of driving wheels are respectively sleeved on the driving shaft in an outer way, the plurality of clutches and the plurality of driving wheels are arranged in a one-to-one correspondence mode, each clutch is synchronously and rotatably connected to the driving shaft, each clutch is an electromagnetic clutch, and each clutch can be switched between a connection state and a disconnection state; the clutch is combined with the driving wheel in a coupling state, so that the driving shaft transmits power to the driving wheel through the clutch; in the disconnected state, the clutch releases the driving wheel, so that the power transmission of the driving shaft to the driving wheel is disconnected. According to the driving device provided by the embodiment of the invention, a plurality of clutches can be driven by one motor, so that the cost can be saved, and the volume of the driving device can be reduced.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a driving device of a construction robot and a feeding machine with the driving device.
Background
An electromagnetic clutch is a device for power output or disconnection between an output shaft and a driven shaft, which controls engagement and disengagement of the clutch by means of on/off of an internal coil. When the coil is electrified, the coil in the clutch generates magnetic force to absorb the clutch plate, the clutch plate is connected with the power transmission part by the spring leaf or the spring, the rotating part in the clutch is rigidly connected with the power output shaft, and the clutch plate is driven to rotate when the coil absorbs the clutch plate, so that the power transmission part is driven to move, and the power output is realized; when the coil is powered off, the clutch plate is released to complete the disconnection of power output. At present, one clutch is matched with one motor, two clutches are matched with two motors, and the on-off performance of the clutches cannot be well utilized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a driving apparatus for a construction robot, which can drive a plurality of clutches by one motor, thereby saving costs and reducing the size of the driving apparatus.
The invention also provides a feeding machine with the driving device of the construction robot.
According to the driving device of the construction robot in the embodiment of the first aspect of the present invention, the driving device of the construction robot includes a driving motor, a plurality of driving wheels, and a plurality of clutches, wherein the driving motor is connected with a driving shaft, the plurality of driving wheels are respectively sleeved on the driving shaft, the plurality of clutches and the plurality of driving wheels are arranged in a one-to-one correspondence manner, each clutch is synchronously and rotatably connected to the driving shaft, each clutch is an electromagnetic clutch, and each clutch is switchable between a coupling state and a disconnection state; the clutch is combined with the transmission wheel in a coupling state, so that the driving shaft transmits power to the transmission wheel through the clutch; and in the disconnected state, the clutch releases the driving wheel so as to disconnect the power transmission of the driving shaft to the driving wheel.
According to the driving device of the construction robot, the plurality of driving wheels and the plurality of clutches are arranged on the driving shaft in a one-to-one correspondence mode, when the driving shaft is driven to rotate by one driving motor, the driving wheels corresponding to the clutches can be controlled to rotate by controlling the clutches, and the plurality of driving wheels can have different rotation states. Compared with the prior art in which one clutch and one motor are arranged correspondingly, the driving device provided by the embodiment of the invention can save the number of driving motors, not only can save cost, but also can reduce the volume of the driving device, thereby being beneficial to the installation and layout of the driving device.
In addition, the driving apparatus for a construction robot according to the present invention may further have the following additional technical features:
in some embodiments of the invention, each of the drive wheels is supported on the drive shaft by a rolling bearing.
In some embodiments of the invention, the clutch is sleeved over the drive shaft, the clutch being held in synchronous rotation with the drive shaft by a key structure.
Optionally, the number of the driving wheels is two, the number of the clutches is two, and the two clutches are respectively located on one sides, far away from each other, of the two driving wheels.
In some embodiments of the invention, the drive motor is disposed coaxially with the drive shaft.
Optionally, a motor shaft of the driving motor is connected to the driving shaft through a coupling.
In some embodiments of the present invention, both ends of the driving shaft are respectively supported by two first fixing seats, and the driving motor is supported by a second fixing seat.
The invention also provides a feeding machine with the driving device of the construction robot.
According to the feeding machine provided by the embodiment of the second aspect of the invention, the feeding machine comprises a base, an arm chain, a driving device and a plurality of belt transmission assemblies, wherein the arm chain comprises mechanical arms which are sequentially and rotatably connected, the mechanical arm at one end of the arm chain is a fixed arm fixed on the base, the other mechanical arms are rotating arms, the mechanical arm at the other end of the arm chain is used for connecting a pipeline for conveying materials, the driving device is arranged on the base, the plurality of belt transmission assemblies and the plurality of rotating arms are arranged in a one-to-one correspondence manner, one end of each belt transmission assembly is an output end belt wheel connected with the corresponding rotating arm, and the other end of each belt transmission assembly is connected with the plurality of transmission wheels of the driving device.
According to the feeding machine provided by the embodiment of the invention, the driving device provided by the embodiment of the invention can be used for respectively controlling the rotation of the plurality of rotating arms through one motor, the control is simple, the rotation effect is good, and the feeding machine can be favorable for transporting materials.
Optionally, the number of the rotating arms is two, and the driving device is provided with two corresponding transmission wheels; the rotating arm connected with the fixed arm is connected with the driving wheel through one conveying belt, and the other rotating arm is connected with the driving wheel through two conveying belts.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic configuration diagram of a driving apparatus of a construction robot according to an embodiment of the present invention;
fig. 2 is a sectional view of a driving apparatus of a construction robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a clutch and a driving wheel of a driving apparatus of a construction robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a feeder according to an embodiment of the present invention.
Reference numerals are as follows:
100: a drive device;
1: a drive motor; 11: a drive shaft;
2: a driving wheel; 21: a first drive pulley; 22: a second transmission wheel;
3: a clutch; 31: a first clutch; 32: a second clutch; 33: a coil; 34: an armature; 35: a spring plate;
4: a first fixed seat;
5: a second fixed seat;
1000: a feeding machine;
200: a base;
61: a first robot arm; 62: a second robot arm; 63: a third mechanical arm;
7: a first belt drive assembly;
8: a second belt drive assembly.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A driving apparatus 100 of a construction robot according to an embodiment of the present invention will be described with reference to fig. 1 to 4.
As shown in fig. 1 to 3, a driving apparatus 100 of a construction robot according to an embodiment of the present invention includes a driving motor 1, a driving wheel 2, and a clutch 3.
Specifically, the driving motor 1 is connected with a driving shaft 11, and the driving motor 1 can drive the driving shaft 11 to rotate.
The plurality of driving wheels 2 are provided, the plurality of driving wheels 2 are respectively sleeved on the driving shaft 11, the plurality of driving wheels refer to two or more than two, that is, the plurality of driving wheels 2 can be sleeved on the driving shaft 11, and after the plurality of driving wheels 2 are sleeved on the driving shaft 11, the plurality of driving wheels 2 can rotate relative to the driving shaft 11.
The clutches 3 are provided with a plurality of clutches 3 and a plurality of driving wheels 2, the clutches 3 are arranged in a one-to-one correspondence mode, namely, the clutches 3 can be provided with two or more than two, one clutch 3 can be arranged in a corresponding mode with one driving wheel 2, and after the clutches 3 are matched with the driving wheels 2, the rotation of the driving wheels 2 can be controlled by controlling the clutches 3.
More specifically, each clutch 3 is synchronously rotatably connected to the drive shaft 11, i.e. the clutch 3 can be engaged with the drive shaft 11, and the drive shaft 11 can drive the clutch 3 to rotate.
Each clutch 3 is an electromagnetic clutch 3, each clutch 3 is switchable between a coupled state in which the clutch 3 is coupled to the driving wheel 2 to transmit power from the driving shaft 11 to the driving wheel 2 through the clutch 3 and a decoupled state in which the clutch 3 is disengaged from the driving wheel 2 to disconnect the transmission of power from the driving shaft 11 to the driving wheel 2.
It should be noted that the electromagnetic clutch 3 may be any electromagnetic clutch 3 disclosed in the prior art, and the structure of the electromagnetic clutch 3 is not described herein again. Further, the coupling state of the clutch 3 refers to an energized state of the clutch 3, that is, when the clutch 3 is energized, magnetic force can be generated, so that the clutch 3 can adsorb the transmission wheel 2, thereby, when the driving shaft 11 drives the clutch 3 to rotate around the axis of the driving shaft 11, the clutch 3 can drive the transmission wheel 2 to rotate, and the decoupling state of the clutch 3 refers to a de-energized state of the clutch 3, that is, when the clutch 3 is de-energized, no magnetic force is generated, so that the clutch 3 cannot adsorb the transmission wheel 2, and when the driving shaft 11 drives the clutch 3 to rotate around the axis of the driving shaft 11, the clutch 3 cannot drive the transmission wheel 2 to rotate.
Therefore, according to the driving apparatus 100 of the construction robot of the embodiment of the present invention, by providing the plurality of driving wheels 2 and the plurality of clutches 3 on the driving shaft 11 and providing the plurality of driving wheels 2 in one-to-one correspondence with the plurality of clutches 3, when the driving apparatus 100 drives the driving shaft 11 to rotate by one driving motor 1, the rotation of the driving wheel 2 corresponding to the clutch 3 can be controlled by controlling the energization or the de-energization of the clutch 3, so that the plurality of driving wheels 2 can have different rotation states. Compared with the prior art in which one clutch 3 is arranged corresponding to one motor, the driving device 100 of the embodiment of the present invention can save the number of driving motors 1, thereby not only saving cost, but also reducing the volume of the driving device 100, and being beneficial to the installation and layout of the driving device 100.
In a specific embodiment of the present invention, as shown in fig. 3, the clutch 3 may include a coil 33, an armature 34 and a spring piece 35, when the coil 33 is energized to generate a magnetic force, under the action of the electromagnetic force, the spring piece 35 of the armature 34 is deformed, the transmission wheel 2 and the armature 34 are attracted together, so that the clutch 3 can drive the transmission wheel 2 to rotate, that is, the clutch 3 is in a coupled state; when the coil 33 is powered off, the magnetic force disappears, and the armature 34 rebounds under the action of the elastic force of the spring piece 35, so that the clutch 3 cannot adsorb the driving wheel 2, the clutch 3 cannot drive the driving wheel 2 to rotate when rotating, and the clutch 3 is in an off-connected state.
In some embodiments of the invention, each transmission wheel 2 is supported on the drive shaft 11 by means of a rolling bearing. That is, a rolling bearing may be provided between the transmission wheel 2 and the drive shaft 11, thereby allowing the drive shaft 11 to rotate relatively well with respect to the transmission wheel 2 when the clutch 3 is in the disengaged state.
In some embodiments of the present invention, the clutch 3 may be sleeved on the driving shaft 11, and the clutch 3 may be kept to rotate synchronously with the driving shaft 11 through a key structure, that is, positioning grooves may be formed at corresponding positions of the clutch 3 and the driving shaft 11, respectively, and after the clutch 3 is sleeved on the driving shaft 11, the clutch 3 may be installed in the positioning grooves of the clutch 3 and the driving shaft 11 through the key structure, so that the driving shaft 11 and the clutch 3 may rotate synchronously, and at the same time, when the clutch 3 and the driving shaft 11 need to be disassembled, the positioning grooves of the clutch 3 and the driving shaft 11 are disengaged from the key structure, which is simple in operation, convenient and fast in assembly between the clutch 3 and the driving shaft 11, and can improve assembly efficiency between the clutch 3 and the driving shaft 11.
Alternatively, there may be two transmission wheels 2 and two clutches 3, and the two clutches 3 are respectively located on the sides of the two transmission wheels 2 far away from each other. For example, as shown in fig. 1 to 3, for convenience of explanation, the clutch 3 on the left side is referred to as a first clutch 31, and the clutch 3 on the right side is referred to as a second clutch 32, wherein the driving wheel 2 correspondingly engaged with the first clutch 31 is referred to as a first driving wheel 21, and the driving wheel 2 correspondingly engaged with the second clutch 32 is referred to as a second driving wheel 22, so that, in the left-right direction in fig. 1 and 2, the first driving wheel 21 is disposed on the right side of the first clutch 31, and the second driving wheel 22 is disposed on the left side of the second clutch 32, it can be understood that the first driving wheel 21 and the second driving wheel 22 are disposed between the first clutch 31 and the second clutch 32, and interference generated when the first clutch 31 and the second clutch 32 are energized can be prevented, thereby affecting the rotation of the first driving wheel 21 and the second driving wheel 22.
In some embodiments of the present invention, the driving motor 1 is disposed coaxially with the driving shaft 11, that is, the axis of the motor shaft of the driving motor 1 coincides with the axis of the driving shaft 11, so that the driving motor 1 can drive the driving shaft 11 to rotate well.
Alternatively, the motor shaft of the driving motor 1 is connected to the driving shaft 11 through a coupling, and thus, by providing the coupling between the motor shaft of the driving motor 1 and the driving shaft 11, the rotating force of the motor shaft can be more stably transmitted to the driving shaft 11, so that the rotation of the driving shaft 11 is more stable, and the operation of the driving apparatus 100 can be facilitated.
In some embodiments of the present invention, both ends of the driving shaft 11 are respectively supported by two first fixing seats 4, and the driving motor 1 is supported by a second fixing seat 5. For example, as shown in fig. 1 and fig. 2, the driving motor 1 is disposed at the right side of the driving shaft 11, the driving device 100 further includes two first fixing seats 4, the two first fixing seats 4 are adjacent to the left and right ends of the driving shaft 11, and a rolling bearing may be disposed between each first fixing seat 4 and the driving shaft 11, so that the driving shaft 11 can better rotate relative to the two first fixing seats 4. Driving motor 1 establishes on the right side of drive shaft 11, and installs on second fixing base 5, and it can be understood that driving motor 1 produces the vibration easily at the during operation, does not install driving motor 1 and drive shaft 11 on same fixing base, can reduce the vibration that driving motor 1 produced and transmit towards drive shaft 11, can be favorable to drive arrangement 100's steady operation.
The present invention also provides a feeding machine 1000 having the driving device 100 of the above embodiment.
The loader 1000 according to an embodiment of the present invention includes a base 200, an arm chain, a driving device 100, and a plurality of belt drive assemblies.
Specifically, the arm chain comprises mechanical arms which are sequentially connected in a rotating manner, the mechanical arm at one end of the arm chain is a fixed arm fixed on the base 200, the other mechanical arms are rotating arms, and the mechanical arm at the other end of the arm chain is used for connecting a material conveying pipeline. For example, as shown in fig. 4, the arm chain sequentially includes a first mechanical arm 61, a second mechanical arm 62 and a third mechanical arm 63 from bottom to top, the lower end of the first mechanical arm 61 is fixed on the base 200, the lower end of the second mechanical arm 62 is rotatably connected with the upper end of the first mechanical arm 61, and the upper end of the second mechanical arm 62 is rotatably matched with the lower end of the third mechanical arm 63, so that the third mechanical arm 63 can move in a relatively narrow space more flexibly, and a pipeline connected with a material conveying material can be better driven to move in a relatively narrow space.
The driving device 100 is arranged on the base 200, a plurality of belt transmission assemblies are arranged in one-to-one correspondence with the plurality of rotating arms, one end of each belt transmission assembly is an output end belt wheel connected with the corresponding rotating arm, and the other end of each belt transmission assembly is connected with the plurality of transmission wheels 2 of the driving device 100. That is, after a belt driving assembly is correspondingly engaged with a rotating arm, and the belt driving assembly is correspondingly engaged with the rotating arm, the driving device 100 can drive the driving wheel 2 corresponding to the rotating arm to rotate, so that the driving wheel 2 can drive the output end belt wheel connected to the corresponding rotating arm, and further can drive the corresponding rotating arm to rotate. Through being equipped with a plurality of belt drive assembly and a plurality of rotor arm, can be so that drive arrangement 100 can drive a plurality of rotor arms respectively and rotate to can take the activity of being used for the pipeline of defeated material more in a flexible way, and then be favorable to transporting material.
Therefore, according to the feeding machine 1000 provided with the driving device 100 of the embodiment of the present invention, the rotation of the second mechanical arm 62 and the rotation of the third mechanical arm 63 can be controlled by one motor, so that the control is simple, the rotation effect is good, and the feeding machine 1000 can be facilitated to transport materials.
Alternatively, there are two swivel arms, and the driving device 100 has two corresponding transmission wheels 2; wherein, the rotating arm connected with the fixed arm is connected with the driving wheel 2 through one conveying belt, and the other rotating arm is connected with the driving wheel 2 through two conveying belts.
For example, as shown in fig. 4, the feeding machine 1000 comprises a first belt transmission assembly 7 and a second belt transmission assembly 8, the first belt transmission assembly 7 comprises a first belt and a third transmission wheel, and the second belt transmission assembly 8 comprises a second belt, a third belt, a fourth transmission wheel and a fifth transmission wheel.
Specifically, the driving device 100 includes two driving wheels 2, which are a first driving wheel 21 and a second driving wheel 22, the first arm 61 and the second arm 62 are connected through a second connecting shaft, a third driving wheel and a fourth driving wheel are disposed on the second connecting shaft, the third driving wheel is located on the left side of the fourth driving wheel, the third driving wheel and the second connecting shaft can synchronously rotate, the fourth driving wheel and the second connecting shaft can relatively rotate, and the third driving wheel and the first driving wheel 21 can be connected through a first belt, so that when the first clutch 31 is energized, the driving shaft 11 can drive the first driving wheel 21 to rotate, so as to drive the second connecting shaft and the third driving wheel to rotate, and further drive the second arm 62 to rotate relative to the first arm 61.
The second mechanical arm 62 is connected with the third mechanical arm 63 through a third connecting shaft, a fifth rotating wheel is sleeved on the third connecting shaft, the fifth driving wheel and the third connecting shaft can synchronously rotate, the second driving wheel 22 and the fourth driving wheel are connected through a second belt, and the fifth rotating wheel and the fourth driving wheel are connected through a third belt.
Other constructions and operations of the feeder 1000 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the specification, reference to the description of "some embodiments," "optionally," "further" or "some examples" or the like is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A feeder, characterized in that includes:
the drive device includes:
the driving motor is connected with a driving shaft;
the two driving wheels are respectively sleeved on the driving shaft in a sleeved mode;
the two clutches and the two driving wheels are arranged in one-to-one correspondence, each clutch is synchronously and rotationally connected to the driving shaft, each clutch is an electromagnetic clutch, and each clutch can be switched between a connection state and a disconnection state; the clutch is combined with the transmission wheel in a coupling state, so that the driving shaft transmits power to the transmission wheel through the clutch; the clutch releases the driving wheel under the disconnection state so as to disconnect the power transmission of the driving shaft to the driving wheel,
the driving device is arranged on the base;
the arm chain comprises a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected in a rotating mode, the first mechanical arm is fixed on the base to form a fixed arm, the second mechanical arm is connected with the first mechanical arm in a rotating mode, and the third mechanical arm is connected with the second mechanical arm in a rotating mode;
the belt transmission assembly comprises a transmission belt and output end belt wheels, two output end belt wheels are sleeved on a rotating shaft between the first mechanical arm and the second mechanical arm, one of the output end belt wheels is in transmission connection with one of the driving wheels on the driving shaft through the transmission belt, and the other output end belt wheel is in transmission connection with the other driving wheel on the driving shaft through two transmission belts respectively and is in transmission connection with the output end belt wheel between the second mechanical arm and the third mechanical arm.
2. A feeder according to claim 1, characterised in that each of the drive wheels is supported on the drive shaft by a rolling bearing.
3. The feeder of claim 1, wherein the clutch is sleeved over the drive shaft, the clutch being held in synchronous rotation with the drive shaft by a key structure.
4. A feeder according to claim 3, wherein two said clutches are respectively located on sides of two said drive wheels remote from each other.
5. The feeder according to claim 1, said drive motor being disposed coaxially with said drive shaft.
6. The feeder according to claim 5, wherein a motor shaft of said driving motor is coupled to said driving shaft by a coupling.
7. The feeder according to claim 1, wherein both ends of the driving shaft are respectively supported by two first fixing seats, and the driving motor is supported by a second fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936898.6A CN112576646B (en) | 2019-09-29 | 2019-09-29 | Construction robot's drive arrangement and material loading machine that has it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936898.6A CN112576646B (en) | 2019-09-29 | 2019-09-29 | Construction robot's drive arrangement and material loading machine that has it |
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| Publication Number | Publication Date |
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| CN112576646A CN112576646A (en) | 2021-03-30 |
| CN112576646B true CN112576646B (en) | 2022-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910936898.6A Active CN112576646B (en) | 2019-09-29 | 2019-09-29 | Construction robot's drive arrangement and material loading machine that has it |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117662414B (en) * | 2023-12-14 | 2024-07-09 | 长沙道源智慧流体科技有限公司 | Portable mobile pump station |
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| CN104315030A (en) * | 2014-10-09 | 2015-01-28 | 芜湖市中亚汽车制动元件有限公司 | Electromagnetic clutch |
| CN106625601B (en) * | 2016-12-27 | 2023-04-07 | 高维智控机器人科技(苏州)有限公司 | Double-arm feeding and discharging manipulator |
| CN206903736U (en) * | 2017-07-13 | 2018-01-19 | 玉环现代汽车配件厂 | A kind of double-flexibility electromagnetic clutch |
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| US4259876A (en) * | 1979-10-02 | 1981-04-07 | Belyanin Petr N | Mechanical arm |
| CN1270869A (en) * | 1999-09-02 | 2000-10-25 | 陈炯 | Knuckle type arc welding robot |
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN105459109A (en) * | 2016-01-11 | 2016-04-06 | 安徽工业大学 | Movable five-axis robot |
| CN207387390U (en) * | 2017-10-19 | 2018-05-22 | 宁波华数机器人有限公司 | A kind of polishing feeding mechanical arm |
| CN108098740A (en) * | 2017-12-27 | 2018-06-01 | 东北大学 | A kind of loading and unloading link robot manipulator with end turn over function |
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| Publication number | Publication date |
|---|---|
| CN112576646A (en) | 2021-03-30 |
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