CN113580105A - Manipulator device - Google Patents
Manipulator device Download PDFInfo
- Publication number
- CN113580105A CN113580105A CN202110862135.9A CN202110862135A CN113580105A CN 113580105 A CN113580105 A CN 113580105A CN 202110862135 A CN202110862135 A CN 202110862135A CN 113580105 A CN113580105 A CN 113580105A
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- CN
- China
- Prior art keywords
- seat
- sliding
- extension rod
- driving
- servo motor
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- 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
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Classifications
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator device, which comprises a supporting seat, wherein a supporting frame is connected to the supporting seat in a sliding manner, and a first driving mechanism for driving the supporting frame to slide along the length direction of the supporting seat is arranged on the supporting seat; a second driving mechanism is arranged on the supporting frame, a rotating seat is arranged at the driving end of the second driving mechanism, and the second driving mechanism is used for driving the rotating seat to rotate; the rotating seat is vertically and slidably connected with a sliding seat, the rotating seat is provided with a third driving mechanism for driving the sliding seat to vertically slide relative to the rotating seat, the sliding seat is rotatably connected with an extension rod, the sliding seat is provided with a fourth driving mechanism for driving the extension rod to rotate, and the outer wall of one end, away from the sliding seat, of the extension rod is fixedly provided with a plurality of clamping units which are circumferentially distributed; when the manipulator device is used, the shielding of an operation area of a machining center or a numerical control machine tool can be avoided, and the manipulator device has the advantage of low cost.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator device.
Background
The manipulator device is a device for grabbing workpieces, and the manipulator device for a machining center or a numerical control machine tool on the market at present mainly has two types: one of the devices is a rack-type manipulator device, which mainly has the disadvantages of large occupied space and high cost, and the other is a floor-type manipulator device, which also has the disadvantage of high cost, and the floor-type manipulator device is located right in front of the operation area of the machining center or the numerical control machine when in use, thus shielding the operation area of the machining center or the numerical control machine and bringing inconvenience to the working personnel.
Disclosure of Invention
In view of the defects of the prior art, the invention provides a manipulator device which can be installed at one side of an operation area of a machining center or a numerical control machine tool when in use, so that the operation area of the machining center or the numerical control machine tool can be prevented from being shielded, and the inconvenience brought to workers can be avoided.
The manipulator device comprises a supporting seat, wherein a supporting frame is connected to the supporting seat in a sliding manner, and a first driving mechanism for driving the supporting frame to slide along the length direction of the supporting seat is installed on the supporting seat; a second driving mechanism is arranged on the supporting frame, a rotating seat is arranged at the driving end of the second driving mechanism, and the second driving mechanism is used for driving the rotating seat to rotate; rotate the seat and go up vertical sliding connection and have the sliding seat, rotate and install on the seat and be used for driving the sliding seat and rotate the vertical gliding third actuating mechanism of seat relatively, rotate on the sliding seat and be connected with the extension rod, install on the sliding seat and be used for driving extension rod pivoted fourth actuating mechanism, be fixed with a plurality of on the outer wall that the sliding seat one end was kept away from to the extension rod and be the centre gripping unit that circumference distributes.
The manipulator device comprises a support seat, a sliding piece, a support frame and a manipulator, wherein the support seat is provided with the sliding piece; by adopting the structure, the sliding part can be reliably connected on the supporting seat in a sliding way, namely, the supporting frame can be reliably connected on the supporting seat in a sliding way.
The manipulator device comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the first driving mechanism comprises a first servo motor fixed on the end part of a supporting seat, the driving end of the first servo motor is connected with a first screw rod in a transmission manner, the first screw rod extends along the sliding direction of a sliding part, and the first screw rod is arranged in the sliding part in a penetrating manner and is in threaded connection with the sliding part; after adopting this kind of first actuating mechanism, when first servo motor drives first lead screw and rotates, can drive the slider and slide along the supporting seat under the mating reaction of first lead screw and slider, can drive the support frame promptly and slide along the supporting seat, for example, when first servo drives first lead screw corotation, first lead screw can drive slider and support frame and slide along the left side of supporting seat, when first servo motor drives first lead screw reversal, first lead screw can drive slider and support frame and slide along the right side of supporting seat.
The manipulator device comprises a first driving mechanism, a second driving mechanism, a first servo motor, a second servo motor, a rotating seat and a manipulator, wherein the first driving mechanism comprises a gear box and a first servo motor which are fixed on a supporting frame; after the second driving mechanism is adopted, when the second servo motor rotates forwards, the gear box can drive the rotating seat to rotate forwards along the axis where the rotating center is located, and when the second servo motor rotates backwards, the gear box can drive the rotating seat to rotate backwards along the axis where the rotating center is located.
The manipulator device comprises a rotating seat, a sliding block and a rotating seat, wherein the rotating seat is arranged on the rotating seat; by adopting the structure, the sliding seat can be reliably and vertically connected on the rotating seat in a sliding manner.
The manipulator device comprises a third driving mechanism, a second screw rod and a nut seat assembly, wherein the third servo motor is fixed on a rotating seat, the second screw rod extends along the vertical direction, two ends of the second screw rod are rotatably connected with the rotating seat through a bearing seat, the second screw rod penetrates through the nut seat assembly and is in threaded connection with the nut seat assembly, the nut seat assembly is fixed with a sliding seat, and one end of the second screw rod is in transmission connection with the driving end of the third servo motor through a first belt pulley assembly; after adopting this kind of structure, when third servo motor drives first lead screw corotation through first belt pulley subassembly, under the mating reaction of first lead screw and nut seat subassembly, can drive the sliding seat and rotate the seat upwards and slide relatively, when third servo motor drives first lead screw reversal through first belt pulley subassembly, under the mating reaction of first lead screw and nut seat subassembly, can drive the sliding seat and rotate the seat and slide downwards relatively.
According to the manipulator device, the extension rod penetrates through the sliding seat, and the extension rod is rotatably connected with the sliding seat through the bearing assembly; by adopting the structure, the extension rod can be reliably and rotatably connected with the sliding seat.
The manipulator device comprises a fourth driving mechanism, a fourth servo motor, a second belt pulley assembly and a third servo motor, wherein the fourth servo motor is fixed on a sliding seat, and one end, facing the sliding seat, of an extension rod is in transmission connection with the driving end of the fourth servo motor through the second belt pulley assembly; after adopting this kind of structure, when fourth servo motor corotation, fourth servo motor can drive the corotation of extension rod through second belt pulley subassembly, and when fourth servo motor reversal, fourth servo motor can drive the reversal of extension rod through second belt pulley subassembly.
According to the manipulator device, the supporting block fixed with the extension rod is sleeved outside one end, far away from the sliding seat, of the extension rod, the plurality of clamping units are circumferentially and uniformly distributed and fixed on the outer wall of the supporting block, a channel for a pipeline to pass through is arranged inside the extension rod, and the channel extends along the length direction of the extension rod and penetrates through the extension rod; through the setting of supporting shoe, the centre gripping unit can be together fixed with the extension rod reliably, the supporting shoe is together fixed with the extension rod accessible adoption welded mode, in addition, through set up the passageway in the extension rod after, the passageway can supply to pass with the pipeline that the centre gripping unit is connected, the pipeline that is connected with the centre gripping unit penetrates the back from the extension rod that is located the centre gripping unit place side promptly, can follow the extension rod and keep away from the one end of centre gripping unit and wear out, so, can avoid the pipeline that is located centre gripping unit position department to appear winding phenomenon.
According to the manipulator device, the sliding direction of the support frame is parallel to the extending direction of the extension rod, and the axis of the rotating center of the rotating seat is parallel to the extending direction of the extension rod; by adopting the structure, the occupied space required by the invention during working can be reduced.
When the manipulator device is used, the manipulator device can be arranged on one side of an operation area of a machining center or a numerical control machine tool, so that the operation area of the machining center or the numerical control machine tool can be prevented from being shielded, and the inconvenience brought to workers can be avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic perspective view of the present invention;
fig. 2 is a partial sectional structural schematic view of the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The manipulator device comprises a supporting seat 1, wherein a supporting frame 2 is connected to the supporting seat 1 in a sliding manner, and a first driving mechanism for driving the supporting frame 2 to slide along the length direction of the supporting seat 1 is installed on the supporting seat 1; a second driving mechanism is arranged on the supporting frame 2, a rotating seat 3 is arranged on the driving end of the second driving mechanism, and the second driving mechanism is used for driving the rotating seat 3 to rotate; a sliding seat 4 is vertically and slidably connected to the rotating seat 3, a third driving mechanism for driving the sliding seat 4 to vertically slide relative to the rotating seat 3 is mounted on the rotating seat 3, an extension rod 5 is rotatably connected to the sliding seat 4, a fourth driving mechanism for driving the extension rod 5 to rotate is mounted on the sliding seat 4, and a plurality of clamping units 6 which are circumferentially distributed are fixed on the outer wall of one end, away from the sliding seat 4, of the extension rod 5; the clamping unit can adopt a cylinder type clamping jaw or can also adopt a sucking disc and other devices.
A sliding piece 11 is arranged on the supporting seat 1, a sliding groove 12 which is matched with the sliding piece 11 to slide is arranged on the supporting seat 1, and the supporting frame 2 is fixed on the sliding piece 11; by adopting the structure, the sliding part can be reliably connected on the supporting seat in a sliding way, namely, the supporting frame can be reliably connected on the supporting seat in a sliding way.
The first driving mechanism comprises a first servo motor 13 fixed on the end part of the supporting seat 1, the driving end of the first servo motor 13 is connected with a first screw rod in a transmission way, the first screw rod extends along the sliding direction of the sliding part 11, and the first screw rod is arranged in the sliding part 11 in a penetrating way and is in threaded connection with the sliding part 11; after adopting this kind of first actuating mechanism, when first servo motor drives first lead screw and rotates, can drive the slider and slide along the supporting seat under the mating reaction of first lead screw and slider, can drive the support frame promptly and slide along the supporting seat, for example, when first servo drives first lead screw corotation, first lead screw can drive slider and support frame and slide along the left side of supporting seat, when first servo motor drives first lead screw reversal, first lead screw can drive slider and support frame and slide along the right side of supporting seat.
The second driving mechanism comprises a gear box 71 and a second servo motor 72 which are fixed on the support frame 2, the driving end of the second servo motor 72 is in transmission connection with the input end of the gear box 71, and the rotating seat 3 is fixed with the output end of the gear box 71; after the second driving mechanism is adopted, when the second servo motor rotates forwards, the gear box can drive the rotating seat to rotate forwards along the axis where the rotating center is located, and when the second servo motor rotates backwards, the gear box can drive the rotating seat to rotate backwards along the axis where the rotating center is located.
Two sliding rails 81 distributed in the front-back direction are fixed on one side, facing the rotating seat 3, of the sliding seat 4, each sliding rail 81 extends in the vertical direction, a sliding block 82 is connected to each sliding rail 81 in a sliding manner, and each sliding block 82 is fixed with the rotating seat 3; by adopting the structure, the sliding seat can be reliably and vertically connected on the rotating seat in a sliding manner.
The third driving mechanism comprises a third servo motor 91, a second lead screw 92 and a nut seat assembly 93, the third servo motor 91 is fixed on the rotating seat 3, the second lead screw 92 extends along the vertical direction, two ends of the second lead screw 92 are rotatably connected with the rotating seat 3 through a bearing seat 94, the second lead screw 92 penetrates through the nut seat assembly 93 and is in threaded connection with the nut seat assembly 93, the nut seat assembly 93 is fixed with the sliding seat 4, and one end of the second lead screw 92 is in transmission connection with the driving end of the third servo motor 91 through a first belt pulley assembly 95; after adopting this kind of structure, when third servo motor drives first lead screw corotation through first belt pulley subassembly, under the mating reaction of first lead screw and nut seat subassembly, can drive the sliding seat and rotate the seat upwards and slide relatively, when third servo motor drives first lead screw reversal through first belt pulley subassembly, under the mating reaction of first lead screw and nut seat subassembly, can drive the sliding seat and rotate the seat and slide downwards relatively.
The extension rod 5 is arranged in the sliding seat 4 in a penetrating way, and the extension rod 5 is rotatably connected with the sliding seat 4 through a bearing assembly 41; by adopting the structure, the extension rod can be reliably and rotatably connected with the sliding seat.
The fourth driving mechanism comprises a fourth servo motor 101, the fourth servo motor 101 is fixed on the sliding seat 4, and one end of the extension rod 5 facing the sliding seat 4 is in transmission connection with the driving end of the fourth servo motor 101 through a second pulley assembly 102; after adopting this kind of structure, when fourth servo motor corotation, fourth servo motor can drive the corotation of extension rod through second belt pulley subassembly, and when fourth servo motor reversal, fourth servo motor can drive the reversal of extension rod through second belt pulley subassembly.
The external part of one end, far away from the sliding seat 4, of the extension rod 5 is sleeved with a supporting block 51 fixed with the extension rod 5, a plurality of clamping units 6 are circumferentially and uniformly distributed and fixed on the outer wall of the supporting block 51, a channel 52 for a pipeline to pass through is arranged in the extension rod 5, and the channel 52 extends along the length direction of the extension rod 5 and penetrates through the extension rod 5; through the setting of supporting shoe, the centre gripping unit can be together fixed with the extension rod reliably, the supporting shoe is together fixed with the extension rod accessible adoption welded mode, in addition, through set up the passageway in the extension rod after, the passageway can supply to pass with the pipeline that the centre gripping unit is connected, the pipeline that is connected with the centre gripping unit penetrates the back from the extension rod that is located the centre gripping unit place side promptly, can follow the extension rod and keep away from the one end of centre gripping unit and wear out, so, can avoid the pipeline that is located centre gripping unit position department to appear winding phenomenon.
The sliding direction of the support frame 2 is parallel to the extending direction of the extension rod 5, and the axis of the rotating center of the rotating seat 3 is parallel to the extending direction of the extension rod 5; by adopting the structure, the occupied space required by the invention during working can be reduced.
When the workpiece clamping device works, when the first driving mechanism drives the sliding piece and the supporting frame to reciprocate along the length direction of the supporting seat, the workpiece clamped by the clamping unit can move left and right, and at the moment, the clamping device can move the workpiece into a machining center or a machining area of numerical control equipment, or the clamping device can take the workpiece machined by the machining center or the numerical control equipment out of the machining area; when the fourth driving mechanism drives the extension rod to rotate, the clamping units can be switched; when the third driving mechanism drives the sliding seat to slide to the lowest part, the sliding seat can work at the smallest working radius, and when the third driving mechanism drives the sliding seat to slide to the highest part, the sliding seat can work at the largest working radius; in the process that the third driving mechanism drives the sliding seat to change the vertical position, when the second driving mechanism drives the rotating seat to rotate (the second driving mechanism can drive the rotating seat to rotate forwards by 90 degrees or drive the rotating seat to rotate backwards by 90 degrees), the working area of the invention is a semicircular working area, so that the requirements of processing and taking and placing workpieces can be met to a greater extent.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A manipulator apparatus, characterized in that: the device comprises a supporting seat (1), wherein a supporting frame (2) is connected onto the supporting seat (1) in a sliding manner, and a first driving mechanism for driving the supporting frame (2) to slide along the length direction of the supporting seat (1) is installed on the supporting seat (1); a second driving mechanism is arranged on the supporting frame (2), a rotating seat (3) is arranged at the driving end of the second driving mechanism, and the second driving mechanism is used for driving the rotating seat (3) to rotate; rotate seat (3) and go up vertical sliding connection and have sliding seat (4), rotate and install on seat (3) and be used for driving sliding seat (4) and rotate the vertical gliding third actuating mechanism of seat (3) relatively, it is connected with extension rod (5) to rotate on sliding seat (4), install on sliding seat (4) and be used for driving extension rod (5) pivoted fourth actuating mechanism, be fixed with on the outer wall that sliding seat (4) one end was kept away from in extension rod (5) a plurality of and be the centre gripping unit (6) that circumference distributes.
2. The manipulator device according to claim 1, wherein a sliding member (11) is mounted on the support base (1), a sliding groove (12) for sliding in cooperation with the sliding member (11) is formed in the support base (1), and the support frame (2) is fixed on the sliding member (11).
3. The manipulator device according to claim 2, wherein the first driving mechanism comprises a first servo motor (13) fixed on the end of the support base (1), a first lead screw is connected to the driving end of the first servo motor (13) in a transmission manner, the first lead screw extends along the sliding direction of the sliding part (11), and the first lead screw is arranged in the sliding part (11) in a penetrating manner and is in threaded connection with the sliding part (11).
4. The manipulator device according to claim 1, wherein the second driving mechanism comprises a gear box (71) fixed on the support frame (2) and a second servo motor (72), a driving end of the second servo motor (72) is in transmission connection with an input end of the gear box (71), and the rotating base (3) is fixed with an output end of the gear box (71).
5. The manipulator device according to claim 1, wherein two sliding rails (81) are fixed on one side of the sliding seat (4) facing the rotating seat (3) and distributed in a front-back direction, each sliding rail (81) extends in a vertical direction, a sliding block (82) is slidably connected to each sliding rail (81), and each sliding block (82) is fixed with the rotating seat (3).
6. The manipulator device according to claim 1, wherein the third driving mechanism comprises a third servo motor (91), a second lead screw (92) and a nut seat assembly (93), the third servo motor (91) is fixed on the rotating seat (3), the second lead screw (92) extends in a vertical direction, both ends of the second lead screw (92) are rotatably connected with the rotating seat (3) through a bearing seat (94), the second lead screw (92) is inserted into the nut seat assembly (93) and is in threaded connection with the nut seat assembly (93), the nut seat assembly (93) is fixed with the sliding seat (4), and one end of the second lead screw (92) is in transmission connection with a driving end of the third servo motor (91) through a first belt pulley assembly (95).
7. The manipulator device according to claim 1, characterized in that the extension rod (5) is inserted into the sliding seat (4), and the extension rod (5) is rotatably connected with the sliding seat (4) through a bearing assembly (41).
8. The manipulator device according to claim 1, characterized in that the fourth driving mechanism comprises a fourth servo motor (101), the fourth servo motor (101) is fixed on the sliding seat (4), and one end of the extension rod (5) facing the sliding seat (4) is in transmission connection with a driving end of the fourth servo motor (101) through a second pulley assembly (102).
9. The manipulator device according to claim 1, wherein a support block (51) fixed to the extension rod (5) is sleeved on an outer portion of one end of the extension rod (5) away from the sliding seat (4), a plurality of clamping units (6) are circumferentially and uniformly fixed on an outer wall of the support block (51), a channel (52) for a pipeline to pass through is arranged inside the extension rod (5), and the channel (52) extends along a length direction of the extension rod (5) and penetrates through the extension rod (5).
10. The manipulator device according to claim 1, characterized in that the sliding direction of the support frame (2) is parallel to the extension direction of the extension rod (5), and the axis of the rotation center of the rotating base (3) is parallel to the extension direction of the extension rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110862135.9A CN113580105A (en) | 2021-07-29 | 2021-07-29 | Manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110862135.9A CN113580105A (en) | 2021-07-29 | 2021-07-29 | Manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113580105A true CN113580105A (en) | 2021-11-02 |
Family
ID=78251562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110862135.9A Pending CN113580105A (en) | 2021-07-29 | 2021-07-29 | Manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113580105A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203712704U (en) * | 2014-02-24 | 2014-07-16 | 李胜多 | Mechanical hand |
| CN104476542A (en) * | 2014-12-16 | 2015-04-01 | 林创辉 | Transfer robot |
| CN204818921U (en) * | 2015-07-21 | 2015-12-02 | 黑龙江建筑职业技术学院 | Telescopic multi -functional feeding mechanical arm arm of going up |
| CN106002961A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Horizontal moving type five-shaft manipulator |
| CN205766157U (en) * | 2016-06-06 | 2016-12-07 | 东莞市海威智能装备股份有限公司 | A kind of four axis robot |
| CN109093613A (en) * | 2018-09-28 | 2018-12-28 | 杭州金浪机电有限公司 | Four axis robots for absorbing material |
| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| CN209380733U (en) * | 2019-01-03 | 2019-09-13 | 东莞市信腾机器人科技有限公司 | Four axis robot of heavy load |
| CN211103996U (en) * | 2019-10-11 | 2020-07-28 | 宝钢工程技术集团有限公司 | Automatic four-shaft mechanical arm device for grabbing long nozzle |
-
2021
- 2021-07-29 CN CN202110862135.9A patent/CN113580105A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203712704U (en) * | 2014-02-24 | 2014-07-16 | 李胜多 | Mechanical hand |
| CN104476542A (en) * | 2014-12-16 | 2015-04-01 | 林创辉 | Transfer robot |
| CN204818921U (en) * | 2015-07-21 | 2015-12-02 | 黑龙江建筑职业技术学院 | Telescopic multi -functional feeding mechanical arm arm of going up |
| CN205766157U (en) * | 2016-06-06 | 2016-12-07 | 东莞市海威智能装备股份有限公司 | A kind of four axis robot |
| CN106002961A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Horizontal moving type five-shaft manipulator |
| WO2019114206A1 (en) * | 2017-12-12 | 2019-06-20 | 慧灵科技（深圳）有限公司 | High performance horizontally articulated four-shaft robot |
| CN109093613A (en) * | 2018-09-28 | 2018-12-28 | 杭州金浪机电有限公司 | Four axis robots for absorbing material |
| CN209380733U (en) * | 2019-01-03 | 2019-09-13 | 东莞市信腾机器人科技有限公司 | Four axis robot of heavy load |
| CN211103996U (en) * | 2019-10-11 | 2020-07-28 | 宝钢工程技术集团有限公司 | Automatic four-shaft mechanical arm device for grabbing long nozzle |
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Application publication date: 20211102 |