CN113942036A - Multistage telescopic manipulator, two-stage telescopic manipulator and equipment applying same - Google Patents
Multistage telescopic manipulator, two-stage telescopic manipulator and equipment applying same Download PDFInfo
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- CN113942036A CN113942036A CN202110805713.5A CN202110805713A CN113942036A CN 113942036 A CN113942036 A CN 113942036A CN 202110805713 A CN202110805713 A CN 202110805713A CN 113942036 A CN113942036 A CN 113942036A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention relates to the field of manipulators, in particular to a multistage telescopic manipulator, a two-stage telescopic manipulator and equipment using the same, wherein the multistage telescopic manipulator comprises: the motor, the coupler and the telescopic structure; the first-stage screw rod, the second-stage screw rod and the like are connected until the N-stage screw rod, and the parts connected with each stage of screw rod are connected in a mode of an internal spline sleeve external spline or an internal irregular hole sleeve external irregular hole. Mounting the first-stage polished rod, the second-stage polished rod and the N-stage polished rod in a manner that the next-stage lead screw is inserted into the last-stage polished rod; when the motor drives the coupler, the parts connected with the screw rods at all levels are connected in a mode of adopting an internal spline sleeve external spline or an internal irregular hole sleeve external irregular hole, so that the next-stage screw rod can be driven to retract into the previous-stage screw rod, all levels of screw rods can retract into one-stage screw rods and all levels of polished rods can retract into one-stage polished rods, and the volume of the manipulator can be compressed by more than half.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a multistage telescopic manipulator, a two-stage telescopic manipulator and equipment applying the manipulator.
Background
The existing precise linear manipulator is basically driven by a screw rod, a gear rack, a synchronous belt and other transmission mechanisms, the designed length of the manipulator is increased along with the increase of the running length, namely the manipulator is integral, so that the occupied space is large; and in the application of light load, the strength of the transmission part is not fully utilized by the single integrated transmission structure.
The prior art generally has the following major disadvantages: the mechanical arm can not be subjected to multi-stage telescopic structural design, and the maximum limit of the compression volume of the mechanical arm can only be half in the same movement stroke.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a light-load precise multi-stage telescopic manipulator, a two-stage telescopic manipulator, and a device using the same, which can compress the volume of the multi-stage telescopic manipulator by more than half to solve the problem of the over-volume of the manipulator.
The purpose of the invention is realized by the following technical scheme:
the invention provides a multistage telescopic manipulator, comprising: the motor, the coupler and the telescopic structure; the telescopic structure comprises a primary telescopic structure, a secondary telescopic structure and an analogy to N-level telescopic structure, wherein N is a positive integer greater than 2; the first-stage telescopic structure is provided with a fixed structure and a first-stage floating plate, and the fixed structure comprises a fixed plate and a fixed nut arranged on the fixed plate;
the first-stage telescopic structure comprises a hollow first-stage screw rod, a first-stage floating plate, a hollow first-stage polished rod and a first-stage nut arranged on the first-stage floating plate; the second-stage telescopic structure comprises a hollow second-stage screw rod, a second-stage floating plate, a hollow second-stage polished rod and a second-stage nut arranged on the second-stage floating plate; by analogy, the N-stage telescopic structure comprises an N-stage screw rod, an N-stage floating plate and an N-stage polished rod;
a first through hole and a first polished rod hole are formed in the first-stage floating plate, a second through hole and a second polished rod hole are formed in the second-stage floating plate, and the analogy is repeated until an Nth through hole and an Nth polished rod hole are formed in the N-stage floating plate;
one end of the first-stage screw rod penetrates through a screw rod through hole in the first-stage floating plate to be connected with the coupler, and the other end of the first-stage screw rod penetrates through the first through hole and the first-stage nut; one end of the second-stage screw rod is arranged in the first-stage screw rod, and the other end of the second-stage screw rod penetrates through the second through hole and the second-stage nut; by analogy, one end of the N-level screw rod is arranged in the N-1-level screw rod, and the other end of the N-level screw rod passes through the N-th through hole; one end of the first-stage polish rod is arranged in the polish rod hole on the first-stage floating plate, and the other end of the first-stage polish rod is arranged in the first polish rod hole; one end of the second-stage polished rod is arranged in the first-stage polished rod, and the other end of the second-stage polished rod is arranged in the second polished rod hole; by analogy, one end of the N-level polished rod is arranged in the N-1-level polished rod, and the other end of the N-level polished rod is arranged in the Nth polished rod hole;
the first-stage screw rod, the second-stage screw rod and the like are sequentially analogized until reaching the N-stage screw rod, and the connected parts of each stage of screw rod are connected in a mode of an internal spline sleeve and an external spline or an internal irregular hole and an external special-shaped hole;
the motor is connected with the coupler and drives the coupler to rotate, the coupler drives the first-stage lead screw to rotate, the first-stage lead screw drives the second-stage lead screw to rotate, and the steps are repeated until the N-1 stage lead screw drives the N-stage lead screw to rotate; the first-stage screw rod penetrates through a screw rod through hole and a fixing nut on the fixing plate; the fixed nut drives the first-stage screw rod to do telescopic motion, finally drives the first-stage telescopic structure and the telescopic structure above the second stage to do telescopic motion, the first-stage nut drives the second-stage screw rod to do telescopic motion, finally drives the second-stage telescopic structure and the telescopic structure above the second stage to do telescopic motion, and the rest is done in sequence until the N-1-stage nut drives the N-stage screw rod to do telescopic motion.
Further, the first-stage nut, the second-stage nut, the third-stage nut and the like are screw rod nuts till the N-1-stage nut and the fixed nut.
Furthermore, the multi-stage telescopic manipulator further comprises a first bearing, a second bearing and the like till the Nth bearing; the first bearing, the second bearing and the analogy are sequentially carried out until the Nth bearing is sequentially and correspondingly arranged in the first through hole, the second through hole and the analogy are sequentially carried out until the Nth bearing is sequentially and correspondingly arranged in the Nth through hole;
the multistage telescopic manipulator further comprises a first-stage bearing, and the first-stage bearing is installed in a screw rod through hole of the first-stage floating plate.
Furthermore, the multi-stage telescopic manipulator further comprises a motor connecting plate, one end of the motor connecting plate is connected with the first-stage floating plate, and the other end of the motor connecting plate is connected with the motor.
Furthermore, the multistage telescopic manipulator further comprises a shell, and when the manipulator does not work, the structure of the manipulator is located in the shell.
Furthermore, the number of the first-stage polished rods, the number of the second-stage polished rods and the number of the analogizing-to-N-stage polished rods are respectively more than one, and the number of the first polished rod holes, the number of the second polished rod holes and the number of the analogizing-to-N-th polished rod holes correspond to the number of the first-stage polished rods, the number of the second-stage polished rods and the number of the analogizing-to-N-stage polished rods.
Furthermore, the multistage telescopic manipulator further comprises a tail end connecting plate and a clamp, wherein the tail end connecting plate is arranged on the N stages of floating plates, and the clamp is arranged on the tail end connecting plate.
Further, linear bearings are arranged in the first polish rod hole, the second polish rod hole and the like to the Nth polish rod hole.
Further, a first-stage screw rod, a second-stage screw rod and the like are arranged to the N-stage screw rod to form the ball screw rod.
An apparatus employing a multi-stage telescopic robot, comprising: the multistage telescopic manipulator of any one of machinery body and above-mentioned, multistage telescopic manipulator installs on the machinery body.
A two-stage telescopic manipulator comprising: the device comprises a motor, a driving long shaft, a primary telescopic structure and a secondary telescopic structure; the first-stage telescopic structure is provided with a fixed structure and a first-stage floating plate, and the fixed structure comprises a fixed plate and a fixed nut arranged on the fixed plate;
the first-stage telescopic structure comprises a hollow first-stage screw rod, a first-stage floating plate, a hollow first-stage polished rod and a first-stage nut arranged on the first-stage floating plate, and the second-stage telescopic structure comprises a second-stage screw rod, a second-stage floating plate and a second-stage polished rod;
the first-stage floating plate is provided with a first through hole and a first polished rod hole, and the second-stage floating plate is provided with a second through hole and a second polished rod hole; one end of the first-stage screw rod penetrates through a screw rod through hole in the first-stage floating plate to be connected with the driving long shaft, and the other end of the first-stage screw rod penetrates through the first through hole and the first-stage nut;
one end of the second-stage screw rod is arranged in the first-stage screw rod, and the other end of the second-stage screw rod penetrates through the second through hole; one end of the first-stage polish rod is arranged in the polish rod hole of the first-stage floating plate, and the other end of the first-stage polish rod is arranged in the first polish rod hole; one end of the second-stage polished rod is arranged in the first-stage polished rod, and the other end of the second-stage polished rod is arranged in the second polished rod hole;
the motor is connected with the driving long shaft and drives the driving long shaft to rotate, the driving long shaft drives the first-stage lead screw to rotate, meanwhile, the driving long shaft drives the second-stage lead screw to rotate and synchronously rotate with the first-stage lead screw, the fixing nut drives the first-stage lead screw to do telescopic motion, finally, the first-stage telescopic structure and the more than one-stage telescopic structure are driven to do telescopic motion, and the first-stage nut drives the second-stage lead screw to do telescopic motion.
Further, the fixing nut and the first-stage nut are both screw rod nuts.
Furthermore, the secondary manipulator further comprises a first bearing and a second bearing structure, the first bearing is arranged in the first through hole, and the second bearing is arranged in the second through hole; the multistage telescopic manipulator further comprises a first-stage bearing, and the first-stage bearing is installed in a screw rod through hole of the first-stage floating plate.
Furthermore, the manipulator also comprises a motor connecting plate, one end of the motor connecting plate is connected with the first-stage floating plate, and the other end of the motor connecting plate is connected with the motor.
Further, the secondary manipulator still includes the shell, and when not carrying out work, the structure of manipulator all is located the shell.
Furthermore, the number of the first-stage polished rods and the number of the second-stage polished rods are respectively more than one, and the number of the first polished rod holes and the number of the second polished rod holes correspond to the number of the first-stage polished rods and the number of the second-stage polished rods.
Furthermore, the secondary manipulator also comprises a tail end connecting plate and a clamp, the tail end connecting plate is connected with the secondary floating plate, and the clamp is arranged on the tail end connecting plate;
further, linear bearings are arranged in the first polished rod hole and the second polished rod hole.
Further, the first-stage screw rod and the second-stage screw rod are arranged to be ball screws.
An apparatus employing a two-stage telescopic robot, comprising: the second grade telescopic manipulator of any one in machinery body and above-mentioned, second grade telescopic manipulator installs on machinery body.
In the multi-stage telescopic manipulator, the two-stage telescopic manipulator and the apparatus using the same of the present invention, the multi-stage telescopic manipulator includes: the motor, the coupler and the telescopic structure; the telescopic structure comprises a primary telescopic structure, a secondary telescopic structure and an analogy to N-level telescopic structure, wherein N is a positive integer greater than 2; the first-stage telescopic structure is provided with a fixed structure and a first-stage floating plate, and the fixed structure comprises a fixed plate and a fixed nut arranged on the fixed plate; the first-stage screw rod, the second-stage screw rod and the like are connected until the N-stage screw rod, and the parts connected with each stage of screw rod are connected in a mode of an internal spline sleeve external spline or an internal irregular hole sleeve external irregular hole. Mounting the first-stage polished rod, the second-stage polished rod and the N-stage polished rod in a manner that the next-stage lead screw is inserted into the last-stage polished rod; when the motor drives the coupler, the parts connected with the screw rods at all levels are connected in a mode of adopting an internal spline sleeve external spline or an internal irregular hole sleeve external irregular hole, so that the next-stage screw rod can be driven to retract into the previous-stage screw rod, all levels of screw rods can retract into one-stage screw rods and all levels of polished rods can retract into one-stage polished rods, and the volume of the manipulator can be compressed by more than half.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a structural view of a multi-stage telescopic robot having a three-stage telescopic structure according to the present invention;
fig. 2 is a sectional structural view of a multi-stage telescopic robot of the present invention having a three-stage telescopic structure;
FIG. 3 is a block diagram of the two stage telescopic robot of the present invention;
FIG. 4 is a sectional structural view of the secondary telescopic manipulator of the present invention provided with a housing;
FIG. 5 is a cross-sectional structural view of the two-stage telescopic manipulator of the present invention;
wherein the reference numerals are: 1-motor, 2-coupler, 3-first-stage telescopic structure, 301-first-stage screw rod, 302-first-stage polish rod, 303-first-stage floating plate, 304-first-stage nut, 4-second-stage telescopic structure, 401-second-stage screw rod, 402-second-stage polish rod, 403-second-stage floating plate, 404-second-stage nut, 5-third-stage telescopic structure and 501-third-stage screw rod, 502-three-stage polish rod, 503-three-stage floating plate, 6-first-stage floating plate, 7-fixed plate, 8-fixed nut, 9-motor connecting plate, 10-shell, 11-tail end connecting plate, 12-clamp, 13-first-stage bearing, 14-first bearing, 15-second bearing, 16-third bearing and 17-driving long shaft.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 to 5, a telescopic robot according to an embodiment of the present invention includes: the motor 1, the coupling 2 and the telescopic structure; the telescopic structure comprises a primary telescopic structure 3, a secondary telescopic structure 4 and an analogy to N-level telescopic structure, wherein N is a positive integer greater than 2; the primary telescopic structure 3 is provided with a fixed structure and a primary floating plate 6, and the fixed structure comprises a fixed plate 7 and a fixed nut 8 arranged on the fixed plate 7;
the first-stage telescopic structure 3 comprises a hollow first-stage screw rod 301, a first-stage floating plate 303, a hollow first-stage polished rod 302 and a first-stage nut 304 arranged on the first-stage floating plate 303; the secondary telescopic structure 4 comprises a hollow secondary screw rod 401, a secondary floating plate 403, a hollow secondary polish rod 402 and a secondary nut 404 arranged on the secondary floating plate 403; by analogy, the N-stage telescopic structure comprises an N-stage screw rod, an N-stage floating plate and an N-stage polished rod;
a first through hole and a first polished rod hole are formed in the first-stage floating plate 303, a second through hole and a second polished rod hole are formed in the second-stage floating plate 403, and the same goes to the Nth through hole and the Nth polished rod hole formed in the N-stage floating plates;
one end of the first-stage screw rod 301 penetrates through a screw rod through hole on the first-stage floating plate 6 to be connected with the coupler 2, and the other end of the first-stage screw rod 301 penetrates through a first through hole and the first-stage nut 304; one end of the secondary screw rod 401 is arranged in the primary screw rod 301, and the other end of the secondary screw rod passes through the second through hole and the secondary nut 404; by analogy, one end of the N-level screw rod is arranged in the N-1-level screw rod, and the other end of the N-level screw rod passes through the N-th through hole; one end of the first-stage polish rod 302 is arranged in the polish rod hole on the first-stage floating plate 6, and the other end is arranged in the first polish rod hole; one end of the secondary polish rod 402 is mounted in the primary polish rod 302, and the other end is mounted in the second polish rod hole; by analogy, one end of the N-level polished rod is arranged in the N-1-level polished rod, and the other end of the N-level polished rod is arranged in the Nth polished rod hole;
in the first-stage screw rod 301, the second-stage screw rod 401 and the analogy to the first-stage screw rod and the second-stage screw rod, the parts connected with each stage of screw rod are connected in a mode of an internal spline sleeve and an external spline or an internal irregular hole and an external irregular hole;
the motor 1 is connected with the coupler 2 and drives the coupler 2 to rotate, the coupler 2 drives the first-stage screw rod 301 to rotate, meanwhile, the first-stage screw rod 301 drives the second-stage screw rod 401 to rotate, and the like is performed until the N-1 stage screw rod drives the N stage screw rod to rotate; the first-stage screw rod 301 penetrates through a screw rod through hole on the fixing plate 7 and the fixing nut 8; the fixing nut 8 drives the first-stage screw rod 301 to do telescopic motion, finally drives the first-stage telescopic structure 3 and the telescopic structure above the second stage to do telescopic motion, the first-stage nut 304 drives the second-stage screw rod 401 to do telescopic motion, finally drives the second-stage telescopic structure 4 and the telescopic structure above the second stage to do telescopic motion, and the rest is done until the N-1 stage nut drives the N-stage screw rod to do telescopic motion.
In the embodiment, the telescopic structure comprises a multi-stage telescopic structure, and the multi-stage telescopic structure comprises a primary telescopic structure 3, a secondary telescopic structure 4 and an analogized to-stage telescopic structure; the telescopic structure of each stage comprises a lead screw, a floating plate, a hollow polished rod (the N-stage polished rod can be non-hollow) and a nut which are corresponding to the stage;
the primary telescopic structure 3 comprises a hollow primary screw rod 301, a primary floating plate 303, a hollow primary polished rod 302 and a primary nut 304 arranged on the primary floating plate 303, and the secondary telescopic structure 4 comprises a hollow secondary screw rod 401, a secondary floating plate 403, a hollow secondary polished rod 402 and a secondary nut 404 arranged on the secondary floating plate 403; the N-stage telescopic structure comprises an N-stage screw rod, an N-stage floating plate and an N-stage polished rod in sequence;
the first-stage screw rod 301, the second-stage screw rod 401 and the like are sequentially analogized until the N-stage screw rod is installed in a mode that the next-stage screw rod 301 is inserted into the previous-stage screw rod 301; the first-stage polished rod 302, the second-stage polished rod 402 and the like are sequentially repeated until the N-stage polished rod is installed in a manner that the next-stage polished rod 302 is inserted into the previous-stage polished rod 302;
each stage of screw rod and each stage of polished rod are sequentially arranged on the floating plate of the corresponding stage; one end of the first-stage screw rod 301 is arranged in the screw rod through hole of the first-stage floating plate 6, and the other end of the first-stage screw rod 301 is arranged in the first through hole of the first-stage floating plate 303; one end of the secondary screw rod 401 is inserted into the primary screw rod 301, and the other end is inserted into the second through hole of the secondary floating plate 403; and analogizing in sequence until one end of the N-stage screw rod is inserted into the N-1 stage screw rod, and the other end of the N-stage screw rod is inserted into the Nth through hole of the N-stage floating plate.
The coupling 2 is driven to rotate by the motor 1, the parts connected with each stage of lead screw are connected by adopting an internal spline sleeve and an external spline or an internal irregular hole and an external irregular hole, the fixing nut 8 drives the first-stage lead screw 301 to do telescopic motion, finally drives the first-stage telescopic structure 3 and the telescopic structure above the second stage to do telescopic motion, the first-stage nut 304 drives the second-stage lead screw 401 to do telescopic motion, finally drives the second-stage telescopic structure 4 and the telescopic structure above the second stage to do telescopic motion, and the like until the N-1 stage nut drives the N-stage lead screw to do telescopic motion; the arrangement of each polished rod provides supporting force for the movement of the whole mechanical arm.
In the multi-stage telescopic manipulator, the two-stage telescopic manipulator and the apparatus using the same of the present invention, the multi-stage telescopic manipulator includes: the motor 1, the coupling 2 and the telescopic structure; the telescopic structure comprises a primary telescopic structure 3, a secondary telescopic structure 4 and an analogy to N-level telescopic structure, wherein N is a positive integer greater than 2; the primary telescopic structure 3 is provided with a fixed structure and a primary floating plate 6, and the fixed structure comprises a fixed plate 7 and a fixed nut 8 arranged on the fixed plate 7; in the first-stage screw rod 301, the second-stage screw rod 401 and the analogy in sequence till the N-stage screw rod, the parts connected with each stage of screw rod are connected in a mode of an internal spline sleeve external spline or an internal irregular hole and an external irregular hole. Mounting the first-stage polished rod 302, the second-stage polished rod 402 and so on until the N-stage polished rod according to the mode that the next-stage lead screw 301 is inserted into the last-stage polished rod 302; when the motor 1 drives the coupler 2, the connected parts of the screw rods at all levels are connected in a mode of adopting an internal spline sleeve external spline or an internal irregular hole and an external irregular hole, so that the next-level screw rod 301 can be driven to retract into the previous-level screw rod 301, all the screw rods can retract into the first-level screw rod 301 and all the polish rods can retract into the first-level polish rod 302, and the volume of the manipulator can be compressed by more than half.
In the embodiment, the first-stage nut 304, the second-stage nut 404, and so on until the N-1-stage nut and the fixing nut 8 are all screw rod nuts. The screw rod nuts of each stage are all arranged on the floating plates of the corresponding stage; the first-stage screw rod 301 nut is arranged on the first-stage floating plate 303, the second-stage screw rod 401 nut is arranged on the second-stage floating plate 403, the third-stage screw rod 501 nut is arranged on the third-stage floating plate 503, and the rest is repeated until the N-1 stage screw rod nut is arranged on the N-1 stage floating plate. The screw rod is driven to perform telescopic motion through the screw rod nut of each stage; the fixing nut 8 is also provided as a lead screw nut.
In the embodiment, the multi-stage telescopic manipulator further comprises a first bearing 14, a second bearing 15 and the like till an Nth bearing; the first bearing 14, the second bearing 15 and the like are sequentially and correspondingly arranged in the first through hole, the second through hole and the like to the Nth through hole; the multistage telescopic manipulator further comprises a primary bearing 13, and the primary bearing 13 is installed in a screw rod through hole of the primary floating plate 6. The bearing is arranged on each stage of floating plate, the screw rod of each stage passes through the bearing on the floating plate of the stage, and the bearing provides supporting force and guiding for the screw rod; a first bearing 14 is arranged on the first-stage floating plate 303, a second bearing 15 is arranged on the second-stage floating plate 403, and the rest is repeated until an Nth bearing is arranged on the N stages of floating plates; one end of the first-stage screw rod 301 penetrates through the first-stage bearing 13, and the other end of the first-stage screw rod penetrates through the first-stage bearing; the second-stage screw rod 401 and the analogy to the N-stage screw rod correspondingly penetrate through the second bearing 15 and the analogy to the Nth bearing; the bearings serve to provide support and guidance.
In the embodiment, the multi-stage telescopic manipulator further comprises a motor connecting plate 9, one end of the motor connecting plate 9 is connected with the first-stage floating plate, and the other end of the motor connecting plate 9 is connected with the motor 1. A motor connecting plate 9 is arranged between the first-stage floating plate 6 and the motor 1, and the motor connecting plate 9 plays a role in connecting the first-stage floating plate 6 and the motor 1.
In the embodiment, the multi-stage telescopic robot further includes a housing 10, and the structure of the robot is located in the housing 10 when not in operation (the housing 10 is not shown in the figure with the three-stage telescopic structure). The mechanical arm is provided with a shell 10, and the first-stage telescopic structure 3, the second-stage telescopic structure 4 and the analogized to N-stage telescopic structures are all arranged in the shell 10 when the mechanical arm does not perform telescopic motion.
In the embodiment, the number of the first-stage polished rods 302, the number of the second-stage polished rods 402, and the like is more than one, and the number of the first polished rod holes, the number of the second polished rod holes, the number of the like to the nth polished rod holes are set corresponding to the number of the first-stage polished rods 302, the number of the second-stage polished rods 402, the like to the N-th polished rods. The arrangement of the polish rods comprises guiding and supporting functions, so that each stage of lead screw can smoothly perform telescopic motion, and the number of the polish rods of each stage can be set as required; in this embodiment, two polished rods are provided for each stage; that is, the first-stage polished rod 302 and the second-stage polished rod 402 are arranged in two by analogy to the N-stage polished rods.
In the embodiment, the multi-stage telescopic robot further includes an end coupling plate 11 and a clamp 12 (the end coupling plate 11 and the clamp 12 are not shown in fig. 2), the end coupling plate 11 is mounted on the N-stage floating plates, and the clamp 12 is mounted on the end coupling plate 11. A tail end connecting plate 11 is arranged on the N-stage floating plate, and the N-stage floating plate is the last stage floating plate, namely the tail stage floating plate; a clamp 12 for clamping an article is arranged on the end connecting plate 11; after the motor 1 is started, the clamp 12 clamps articles at different distances in the telescopic process through the telescopic motion of the multi-stage screw rod; the end connection plate 11 can be replaced by a different type of clamp 12.
In the embodiment, linear bearings are arranged in the first polish rod hole, the second polish rod hole and the like to the Nth polish rod hole. Linear bearings are arranged in the first polished rod hole, the second polished rod hole and the like to the Nth polished rod hole, so that the directional precision and efficiency are improved.
In the embodiment, the first stage screw 301, the second stage screw 401, and the like to the N stage screw are provided as ball screws. The primary screw 301, the secondary screw 401 and the like to the N-stage screw are arranged to improve the transmission precision and efficiency by the ball screw.
The following is an embodiment in which the multistage telescopic manipulator is set to be of a telescopic structure with more than three stages:
further, a third-stage telescopic structure 5 is arranged on the basis of the second-stage telescopic structure 4, and the third-stage telescopic structure 5 comprises a third-stage screw rod 501, a third-stage floating plate 503, a third-stage polished rod 502 and a third-stage polished rod; one end of the third-stage screw rod 501 is arranged in the second-stage screw rod 401, the other end of the third-stage screw rod passes through the third through hole, the second-stage screw rod 401 drives the third-stage screw rod 501 to rotate, and the second-stage nut 404 drives the third-stage screw rod 501 to do telescopic motion; one end of the third polished rod 502 is installed in the second polished rod 402, and the other end is installed in the third polished rod hole; a four-stage telescopic structure and a stage telescopic structure from parity to more than four are arranged on the three-stage floating plate 503, and when the four-stage telescopic structure is arranged, a three-stage nut is arranged on the three-stage floating plate 503;
further, a third bearing 16 is provided in the tertiary floating plate.
The four-stage telescopic structure comprises a four-stage screw rod, a four-stage floating plate, a four-stage polished rod and a four-stage nut arranged on the four-stage floating plate, wherein a fourth through hole and a fourth polished rod hole are formed in the four-stage floating plate; one end of the fourth-stage screw rod is arranged in the third-stage screw rod 501, the other end of the fourth-stage screw rod penetrates through the fourth through hole and the fourth-stage nut, and the third-stage nut drives the fourth-stage screw rod to perform telescopic motion; one end of the fourth-stage polished rod is arranged in the third-stage polished rod 502, and the other end of the fourth-stage polished rod is arranged in the fourth polished rod hole;
the N-stage telescopic structure comprises an N-stage screw rod, an N-stage floating plate and an N-stage polished rod, wherein an Nth through hole and an Nth polished rod hole are formed in the N-stage floating plate; one end of the N-level screw rod is arranged in the N-1-level screw rod, and the other end of the N-level screw rod penetrates through the N-th through hole; the N-1 level nut drives the N level screw rod to do telescopic motion, one end of the N level polished rod is installed in the N-1 level polished rod, and the other end of the N level polished rod penetrates through the N level polished rod hole.
Further, set up five-level extending structure on four-level extending structure, set up six-level extending structure on five-level extending structure, analogize according to above-mentioned order and structural principle and set up to N level extending structure in proper order.
A more-stage telescopic structure is arranged, and the telescopic structure can occupy more volume; the screw rod of the telescopic structure is hollow, and the screw rod of the next stage is inserted into the screw rod of the previous stage, so that when the manipulator does not work, the screw rod of the next stage can be retracted into the screw rod of the previous stage; for example, the secondary screw 401 retracts into the primary screw 301, the tertiary screw 501 retracts into the secondary screw 401, and the secondary screw is pushed to the N-level to be inserted into the N-1-level screw.
In this embodiment, the first, second, and so on stages in front of the lead screw represent corresponding stages; for example, if the three-level screw rod 501 exists in the invention, the invention is shown to comprise a first-level screw rod 301, a second-level screw rod 401 and the three-level screw rod 501; if a six-stage telescopic structure appears, the fact that the front of the six-stage telescopic structure comprises a one-stage to five-stage telescopic structure is shown, the fact that the front of the six-stage screw rod comprises one-stage to five-stage screw rods is shown, and the telescopic structure of each stage can be provided with the screw rod, the polished rod, the floating plate and the nut which is arranged on the floating plate, wherein the screw rod, the polished rod and the floating plate correspond to the stage; for example, the four-stage telescopic structure is matched with a four-stage screw rod, a four-stage floating plate and a four-stage polished rod.
The invention is provided with N-stage telescopic structures by the aid of the N-stage screw rods, and the N-stage telescopic structures comprise N-stage floating plates, N-stage screw rods and N-stage polished rods.
Further, when the invention is provided with a six-stage telescopic structure, the invention means that five telescopic structures are arranged in front of the six-stage telescopic structure, including a first-stage, a second-stage, a third-stage, a fourth-stage and a fifth-stage telescopic structure, and bearings are arranged in the first, second, third, fourth and fifth through holes corresponding to the first-stage, second-stage, third-stage, fourth-stage and fifth-stage telescopic structures; the first-stage, second-stage, third-stage, fourth-stage and fifth-stage screw rods are correspondingly inserted into the first, second, third, fourth and fifth bearings.
When N-level telescopic structures are arranged, the invention shows that N telescopic structures are provided, and the N-level telescopic structures comprise a first-level telescopic structure 3, a second telescopic structure, an N-1-level telescopic structure and an N-level telescopic structure; a first bearing 14, a second bearing 15, an N-1 bearing and an Nth bearing are correspondingly arranged, and the bearings of all stages are correspondingly arranged in the floating plates of all stages.
Further, the connection mode of the internal spline sleeve and the external spline or the internal irregular hole and the external irregular hole of the irregular hole sleeve is adopted for the parts of the three-level screw rod 501, the four-level screw rod, the five-level screw rod and the six-level screw rod, and the parts from analogy to N-level screw rod connection, so that the three-level screw rod 501, the four-level screw rod, the five-level screw rod, the six-level screw rod and the analogy N-level screw rod synchronously rotate.
The prior art generally has the following major disadvantages: the mechanical arm can not be subjected to multi-stage telescopic structural design, and the maximum limit of the compression volume of the mechanical arm can only be half in the same movement stroke.
This application is through motor 1, shaft coupling 2, one-level extending structure 3, second grade extending structure 4, tertiary extending structure 5 and analogize to N extending structure's setting in proper order for when the manipulator does not carry out work, second grade lead screw 401, tertiary lead screw 501 and analogize to N level lead screw compression in one-level lead screw 301 in proper order, make the volume of manipulator can compress the physical examination more than half.
Example 2
An apparatus employing a multi-stage telescopic robot, comprising: a machine body and a multi-stage telescopic manipulator according to any one of claims 1 to 9, the multi-stage telescopic manipulator being mounted on the machine body. The multistage telescopic manipulator is applied to mechanical equipment, and the mechanical equipment comprises a mechanical body; the multistage telescopic manipulator is installed on the mechanical body, so that the equipment can use the manipulator to telescopically clamp articles at a longer distance.
Example 3
A two-stage telescopic manipulator comprising: the device comprises a motor 1, a driving long shaft 17, a primary telescopic structure 3 and a secondary telescopic structure 4; the primary telescopic structure 3 is provided with a fixed structure and a primary floating plate 6, and the fixed structure comprises a fixed plate 7 and a fixed nut 8 arranged on the fixed plate 7;
the primary telescopic structure 3 comprises a hollow primary screw rod 301, a primary floating plate 303, a hollow primary polished rod 302 and a primary nut 304 arranged on the primary floating plate 303, and the secondary telescopic structure 4 comprises a secondary screw rod 401, a secondary floating plate 403 and a secondary polished rod 402;
a first through hole and a first polished rod hole are formed in the first-stage floating plate 303, and a second through hole and a second polished rod hole are formed in the second-stage floating plate 403; one end of the first-stage screw rod 301 penetrates through a screw rod through hole on the first-stage floating plate 6 to be connected with the driving long shaft 17, and the other end of the first-stage screw rod passes through a first through hole and a first-stage nut 304;
one end of the second-stage screw rod 401 is arranged in the first-stage screw rod 301, and the other end of the second-stage screw rod passes through the second through hole; one end of the first-stage polish rod 302 is arranged in the polish rod hole of the first-stage floating plate 6, and the other end of the first-stage polish rod 302 is arranged in the first polish rod hole; one end of the secondary polish rod 402 is mounted in the primary polish rod 302, and the other end is mounted in the second polish rod hole;
the motor 1 is connected with the driving long shaft 17 and drives the driving long shaft 17 to rotate, the driving long shaft 17 drives the first-stage lead screw 301 to rotate, meanwhile, the driving long shaft 17 drives the second-stage lead screw 401 to rotate and synchronously rotate with the first-stage lead screw 301, the fixing nut 8 drives the first-stage lead screw 301 to do telescopic motion, finally, the first-stage telescopic structure 3 and the telescopic structure above the first stage are driven to do telescopic motion, and the first-stage nut 304 drives the second-stage lead screw 401 to do telescopic motion.
In the telescopic manipulator and the multi-stage telescopic manipulator of the present invention, the telescopic manipulator includes: the device comprises a motor 1, a driving long shaft 17, a primary telescopic structure 3 and a secondary telescopic structure 4; be provided with fixed knot structure and first level floating plate 6 on the one-level extending structure 3, fixed knot constructs including fixed plate 7 and installs fixation nut 8 on fixed plate 7.
Through the arrangement of the motor 1, the driving long shaft 17, the primary telescopic structure 3 and the secondary telescopic structure 4, the primary screw rod 301 and the primary polished rod 302 can perform telescopic motion in the secondary screw rod 401 and the secondary polished rod 402 correspondingly, so that the volume of the manipulator is compressed; the manipulator primary telescopic structure 3 and the manipulator secondary telescopic structure 4 adopt overlapped slide rail structures, and the horizontal lines of the manipulator primary telescopic structure and the manipulator secondary telescopic structure are compressed and folded on the same line, so that the volume occupancy rate is greatly reduced, the weight of the whole manipulator is reduced, and finally the telescopic manipulator can be applied to application scenes which are light load and high in depth and are also applicable.
In the embodiment, the fixing nut 8 and the primary nut 304 are both screw nuts. The screw rod nuts of each stage are all arranged on the floating plates of the corresponding stage; the primary screw 301 is mounted on the primary floating plate 303, and the secondary screw 401 is mounted on the secondary floating plate 403. The screw rod is driven to perform telescopic motion through the screw rod nut of each stage; the fixing nut 8 is also provided as a lead screw nut.
In an embodiment, the secondary manipulator further comprises a first bearing 14 and a second bearing 15, the first bearing 14 is installed in the first through hole, and the second bearing 15 is installed in the second through hole; the multistage telescopic manipulator further comprises a primary bearing 13, and the primary bearing 13 is installed in a screw rod through hole of the primary floating plate 6. The bearing is arranged on each stage of floating plate, the screw rod of each stage passes through the bearing on the floating plate of the stage, and the bearing provides supporting force and guiding for the screw rod; a first bearing 14 is arranged on the first-stage floating plate 303, and a second bearing 15 is arranged on the second-stage floating plate 403; one end of the first-stage screw rod 301 penetrates through the first-stage bearing 13, and the other end of the first-stage screw rod penetrates through the first-stage bearing; the secondary screw 401 passes through the second bearing 15; the bearings serve to provide support and guidance.
In the embodiment, the manipulator further comprises a motor connecting plate 9, wherein one end of the motor connecting plate 9 is connected with the first-stage floating plate 6, and the other end of the motor connecting plate 9 is connected with the motor 1. A motor connecting plate 9 is arranged between the first-stage floating plate 6 and the motor 1, and the motor connecting plate 9 plays a role in connecting the first-stage floating plate 6 and the motor 1.
In an embodiment, the secondary manipulator further comprises a housing 10, and the structures of the manipulator are all located in the housing 10 when the manipulator is not in operation. The mechanical arm is provided with a shell 10, and the first-stage telescopic structure 3, the second-stage telescopic structure 4 and the analogized to N-stage telescopic structures are all arranged in the shell 10 when the mechanical arm does not perform telescopic motion.
In an embodiment, the number of the first-stage polished rods 302 and the number of the second-stage polished rods 402 are more than one, and the number of the first polished rod holes and the number of the second polished rod holes are set corresponding to the number of the first-stage polished rods 302 and the number of the second-stage polished rods 402. The arrangement of the polish rods comprises guiding and supporting functions, so that each stage of lead screw can smoothly perform telescopic motion, and the number of the polish rods of each stage can be set as required; in this embodiment, two polished rods are provided for each stage; that is, the first-stage polished rod 302 and the second-stage polished rod 402 are provided in two.
In an embodiment, the secondary manipulator further comprises a tail end connecting plate 11 and a clamp 12, wherein the tail end connecting plate 11 is connected with the secondary floating plate 403, and the clamp 12 is installed on the tail end connecting plate 11; a tail end connecting plate 11 is arranged on the second-stage floating plate 403, and the second-stage floating plate 403 is the last-stage floating plate, namely the tail-stage floating plate; a clamp 12 for clamping an article is arranged on the end connecting plate 11; after the motor 1 is started, the clamp 12 clamps articles at different distances in the telescopic process through the telescopic motion of the multi-stage screw rod; the end connection plate 11 can be replaced by a different type of clamp 12.
In an embodiment, linear bearings are disposed in the first polish rod hole and the second polish rod hole. Linear bearings are arranged in the first polished rod hole and the second polished rod hole to improve the precision and the efficiency of orientation.
In the embodiment, the primary screw 301 and the secondary screw 401 are ball screws. The primary screw 301 and the secondary screw 401 are arranged to improve the accuracy and efficiency of the transmission with a ball screw.
The structure of the existing manipulator is mainly designed to be applied to heavy-load scenes, the folded horizontal lines are not on the same line, a non-overlapped sliding rail structure is adopted, the structure is thick and heavy, and the miniature light-load scenes cannot be applied.
Through the arrangement of the motor 1, the driving long shaft 17, the primary telescopic structure 3 and the secondary telescopic structure 4, when the manipulator does not work, the secondary screw 401 and the secondary polished rod 402 are compressed in the primary screw 301 and the primary polished rod 302 correspondingly, so that the volume of the manipulator is compressed; the manipulator primary telescopic structure 3 and the manipulator secondary telescopic structure 4 adopt overlapped slide rail structures, and the horizontal lines of the manipulator primary telescopic structure and the manipulator secondary telescopic structure are compressed and folded on the same line, so that the volume occupancy rate is greatly reduced, the weight of the whole manipulator is reduced, and finally the telescopic manipulator can be applied to application scenes which are light load and high in depth and are also applicable.
Example 4
An apparatus employing a two-stage telescopic robot, comprising: a machine body and a secondary telescopic manipulator according to any of claims 11 to 19, the secondary telescopic manipulator being mounted on the machine body. The two-stage telescopic manipulator is applied to mechanical equipment, and the mechanical equipment comprises a mechanical body; the multistage telescopic manipulator is installed on the mechanical body, so that the equipment can use the manipulator to telescopically clamp articles.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (20)
1. A multi-stage telescopic manipulator, comprising: the motor, the coupler and the telescopic structure; the telescopic structure comprises a primary telescopic structure, a secondary telescopic structure and an analogy to N-level telescopic structure, wherein N is a positive integer greater than 2; the primary telescopic structure is provided with a fixed structure and a primary floating plate, and the fixed structure comprises a fixed plate and a fixed nut arranged on the fixed plate;
the first-stage telescopic structure comprises a hollow first-stage screw rod, a first-stage floating plate, a hollow first-stage polished rod and a first-stage nut arranged on the first-stage floating plate; the second-stage telescopic structure comprises a hollow second-stage screw rod, a second-stage floating plate, a hollow second-stage polished rod and a second-stage nut arranged on the second-stage floating plate; by analogy, the N-stage telescopic structure comprises an N-stage screw rod, an N-stage floating plate and an N-stage polished rod;
the first-stage floating plate is provided with a first through hole and a first polished rod hole, the second-stage floating plate is provided with a second through hole and a second polished rod hole, and the rest is done in sequence until the N-stage floating plate is provided with an Nth through hole and an Nth polished rod hole;
one end of the first-stage screw rod penetrates through a screw rod through hole in the first-stage floating plate to be connected with the coupler, and the other end of the first-stage screw rod penetrates through the first through hole and the first-stage nut; one end of the secondary screw rod is arranged in the primary screw rod, and the other end of the secondary screw rod penetrates through the second through hole and the secondary nut; by analogy, one end of the N-level screw rod is arranged in the N-1-level screw rod, and the other end of the N-level screw rod penetrates through the Nth through hole; one end of the first-stage polish rod is arranged in the polish rod hole on the first-stage floating plate, and the other end of the first-stage polish rod is arranged in the first polish rod hole; one end of the second-stage polished rod is arranged in the first-stage polished rod, and the other end of the second-stage polished rod is arranged in the second polished rod hole; by analogy, one end of the N-level polished rod is arranged in the N-1-level polished rod, and the other end of the N-level polished rod is arranged in the Nth polished rod hole;
the first-stage screw rod, the second-stage screw rod and the like are sequentially analogized until reaching the N-stage screw rod, and the connected parts of each stage of screw rod are connected in a mode of an internal spline sleeve and an external spline or an internal irregular hole and an external irregular hole;
the motor is connected with the coupler and drives the coupler to rotate, the coupler drives the first-stage lead screw to rotate, meanwhile, the first-stage lead screw drives the second-stage lead screw to rotate, and the like is performed until the N-1-stage lead screw drives the N-stage lead screw to rotate; the primary screw rod penetrates through a screw rod through hole and a fixing nut on the fixing plate; the fixing nut drives the first-stage screw rod to do telescopic motion, finally drives the first-stage telescopic structure and the telescopic structure above the second stage to do telescopic motion, the first-stage nut drives the second-stage screw rod to do telescopic motion, finally drives the second-stage telescopic structure and the telescopic structure above the second stage to do telescopic motion, and the rest is done until the N-1-stage nut drives the N-stage screw rod to do telescopic motion.
2. The multi-stage telescopic manipulator according to claim 1, wherein the first-stage nut, the second-stage nut, and the like are screw nuts up to the N-1-stage nut and the fixing nut.
3. The multi-stage telescopic manipulator according to claim 1, further comprising a first bearing, a second bearing, and so on up to an nth bearing; the first bearing, the second bearing and the like are sequentially and correspondingly arranged in the first through hole, the second through hole and the like to the Nth through hole;
the multistage telescopic manipulator further comprises a first-stage bearing, and the first-stage bearing is installed in a screw rod through hole of the first-stage floating plate.
4. The multi-stage telescopic manipulator according to claim 3, further comprising a motor connecting plate, wherein one end of the motor connecting plate is connected to the first stage floating plate, and the other end of the motor connecting plate is connected to the motor.
5. The multi-stage telescopic manipulator according to claim 4, further comprising a housing, wherein the structure of the manipulator is located within the housing when not in operation.
6. The multi-stage telescopic manipulator according to claim 1, wherein the number of the first-stage polished rod, the second-stage polished rod and the like to N stages of polished rods is respectively more than one, and the number of the first polished rod hole, the second polished rod hole and the like to N stage polished rod hole is set corresponding to the number of the first-stage polished rod, the second-stage polished rod and the like to N stage polished rods.
7. The multi-stage telescopic robot of claim 1, further comprising a tip connection plate mounted on the N-stage floating plate, and a jig mounted on the tip connection plate.
8. The multi-stage telescopic manipulator according to claim 1, wherein linear bearings are arranged in the first polished rod hole, the second polished rod hole and the like to the Nth polished rod hole.
9. The multi-stage telescopic manipulator according to claim 1, wherein the first stage screw, the second stage screw and so on to the N stage screw are provided as ball screws.
10. An apparatus using a multi-stage telescopic robot, comprising: a machine body and a multi-stage telescopic manipulator according to any one of claims 1 to 9, mounted on said machine body.
11. A two-stage telescopic manipulator is characterized by comprising: the device comprises a motor, a driving long shaft, a primary telescopic structure and a secondary telescopic structure; the primary telescopic structure is provided with a fixed structure and a primary floating plate, and the fixed structure comprises a fixed plate and a fixed nut arranged on the fixed plate;
the primary telescopic structure comprises a hollow primary screw rod, a hollow primary floating plate, a hollow primary polished rod and a primary nut arranged on the primary floating plate, and the secondary telescopic structure comprises a secondary screw rod, a secondary floating plate and a secondary polished rod;
the first-stage floating plate is provided with a first through hole and a first polished rod hole, and the second-stage floating plate is provided with a second through hole and a second polished rod hole; one end of the first-stage screw rod penetrates through a screw rod through hole in the first-stage floating plate to be connected with the driving long shaft, and the other end of the first-stage screw rod penetrates through the first through hole and the first-stage nut;
one end of the secondary screw rod is arranged in the primary screw rod, and the other end of the secondary screw rod penetrates through the second through hole; one end of the first-stage polish rod is arranged in the polish rod hole of the first-stage floating plate, and the other end of the first-stage polish rod is arranged in the first polish rod hole; one end of the second-stage polished rod is arranged in the first-stage polished rod, and the other end of the second-stage polished rod is arranged in the second polished rod hole;
the motor is connected with the driving long shaft and drives the driving long shaft to rotate, the driving long shaft drives the first-stage lead screw to rotate, meanwhile, the driving long shaft drives the second-stage lead screw to rotate synchronously with the first-stage lead screw, the fixing nut drives the first-stage lead screw to do telescopic motion, finally, the first-stage telescopic structure and the more than one-stage telescopic structure are driven to do telescopic motion, and the first-stage nut drives the second-stage lead screw to do telescopic motion.
12. The two-stage telescopic manipulator according to claim 11, wherein the fixing nut and the primary nut are screw nuts.
13. The secondary telescopic robot of claim 11, further comprising a first bearing mounted in the first through-hole and a second bearing structure mounted in the second through-hole; the multistage telescopic manipulator further comprises a first-stage bearing, and the first-stage bearing is installed in a screw rod through hole of the first-stage floating plate.
14. The two-stage telescopic manipulator according to claim 13, further comprising a motor connecting plate, wherein one end of the motor connecting plate is connected with the first stage floating plate, and the other end of the motor connecting plate is connected with the motor.
15. The secondary telescopic manipulator of claim 14, further comprising a housing, the structures of the manipulator being located within the housing when not in operation.
16. The two-stage telescopic manipulator according to claim 11, wherein the number of the first-stage polished rod holes and the number of the second-stage polished rod holes are set to correspond to the number of the first-stage polished rod holes and the number of the second-stage polished rod holes.
17. The secondary telescopic manipulator of claim 11, further comprising an end connection plate connected to the secondary floating plate and a clamp mounted on the end connection plate.
18. The two-stage telescopic manipulator of claim 11, wherein linear bearings are disposed within the first polished rod bore and the second polished rod bore.
19. The secondary telescopic manipulator according to claim 11, wherein the primary and secondary screws are ball screws.
20. An apparatus employing a two-stage telescopic manipulator, comprising: a machine body and a secondary telescopic manipulator according to any of claims 11 to 19, mounted on said machine body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110805713.5A CN113942036A (en) | 2021-07-16 | 2021-07-16 | Multistage telescopic manipulator, two-stage telescopic manipulator and equipment applying same |
| PCT/CN2021/138000 WO2023284244A1 (en) | 2021-07-16 | 2021-12-14 | Multi-stage telescopic manipulator, second-stage telescopic manipulator, and apparatus using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110805713.5A CN113942036A (en) | 2021-07-16 | 2021-07-16 | Multistage telescopic manipulator, two-stage telescopic manipulator and equipment applying same |
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| Publication Number | Publication Date |
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| CN113942036A true CN113942036A (en) | 2022-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110805713.5A Pending CN113942036A (en) | 2021-07-16 | 2021-07-16 | Multistage telescopic manipulator, two-stage telescopic manipulator and equipment applying same |
Country Status (2)
| Country | Link |
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| CN (1) | CN113942036A (en) |
| WO (1) | WO2023284244A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888479A (en) * | 2022-07-13 | 2022-08-12 | 徐州晨晓精密机械制造有限公司 | A intraductal welding machine for mechanical pipe fitting |
| CN115056522A (en) * | 2022-06-09 | 2022-09-16 | 东莞汇乐技术股份有限公司 | Battery electrode garbage collection equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2545406B1 (en) * | 1983-05-02 | 1986-10-17 | Alsthom Atlantique | TELESCOPIC SUPPORT COLUMN FOR MANIPULATOR ARM |
| US5733096A (en) * | 1995-09-13 | 1998-03-31 | Silicon Valley Group, Inc. | Multi-stage telescoping structure |
| CN201836321U (en) * | 2010-09-30 | 2011-05-18 | 浙江捷昌线性驱动科技股份有限公司 | Lead screw transmission system of electric push rod |
| CN211940949U (en) * | 2019-12-24 | 2020-11-17 | 无锡灵德自动化科技有限公司 | Multi-stage telescopic robot |
| CN111409100B (en) * | 2020-04-16 | 2021-09-07 | 广东博智林机器人有限公司 | Telescopic mechanism, mechanical arm and construction robot |
| CN111503234A (en) * | 2020-06-01 | 2020-08-07 | 西安华欧精密机械有限责任公司 | High-power direct-drive four-section telescopic electric cylinder |
-
2021
- 2021-07-16 CN CN202110805713.5A patent/CN113942036A/en active Pending
- 2021-12-14 WO PCT/CN2021/138000 patent/WO2023284244A1/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056522A (en) * | 2022-06-09 | 2022-09-16 | 东莞汇乐技术股份有限公司 | Battery electrode garbage collection equipment |
| CN114888479A (en) * | 2022-07-13 | 2022-08-12 | 徐州晨晓精密机械制造有限公司 | A intraductal welding machine for mechanical pipe fitting |
| CN114888479B (en) * | 2022-07-13 | 2022-09-30 | 徐州晨晓精密机械制造有限公司 | A intraductal welding machine for mechanical pipe fitting |
Also Published As
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| WO2023284244A1 (en) | 2023-01-19 |
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