CN202952263U - Robot - Google Patents
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- CN202952263U CN202952263U CN 201220653710 CN201220653710U CN202952263U CN 202952263 U CN202952263 U CN 202952263U CN 201220653710 CN201220653710 CN 201220653710 CN 201220653710 U CN201220653710 U CN 201220653710U CN 202952263 U CN202952263 U CN 202952263U
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- pressure cylinder
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- arm member
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Abstract
The utility model discloses a robot. The robot comprises first arm components, first joints, second arm components, second joints, third arm components and first driving mechanisms. The first end of each first arm component is connected with the first end of one second arm component by virtue of one first joint, so that the second arm component rotates around a first rotating shaft relative to the first arm component, the second end of each second arm component is connected with the first end of one third arm component by virtue of one second joint, each first driving mechanism comprises a first motor and a first transmission mechanism, and the first motor is arranged at the first end of the second arm component and drives the third arm component to rotate around a second rotating shaft relative to the second arm component by virtue of the first transmission mechanism. Therefore, the robot disclosed by the utility model has the advantages that sizes of the second arm components can be reduced, weights and rotational inertia of the second arm components can be reduced, and further effective load of the robot is increased.
Description
Technical field
The utility model relates to field of mechanical technique, particularly relates to a kind of robot.
Background technology
In order to enhance productivity and accuracy rate, robot has been applied in multi-field operation.The robot of prior art comprises drive motors, wrist, the wrist axis be connected with wrist respectively and arm.Wherein, drive motors is for driving wrist axis, and arm is around its joint motions, and the center of gravity of arm can change along with the variation of the position of arm motion, speed, acceleration when motion, thereby produces the gravity torque that is nonlinear change with respect to joint.
The machine of prior art is artificially simplified drive mechanism, usually drive motors is arranged on to the position of the inner or close wrist of wrist.In order to reduce the non-linear effects of arm gravity torque, usually use counterweight gravity balance device or spring gravity balance device.
But the weight that the arranging of the drive motors of the robot of prior art increased wrist self and the rotary inertia of wrist axis, further reduced the pay(useful) load of robot; And counterweight gravity balance device or spring gravity balance device exist, and volume is large, the problem of Heavy Weight, further causes robot to occur interfering radius to become rotary inertia large, that weight becomes heavy and joint and become large problem.
The utility model content
The technical problem that the utility model mainly solves is to provide a kind of robot, can improve the weight of the pay(useful) load of robot, the volume that reduces robot and reduction robot.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of robot is provided, this robot comprises first-hand arm member, the first joint, second-hand's arm member, second joint, the 3rd arm parts and the first driving mechanism, the first end of first-hand arm member is connected with the first end of second-hand's arm member by the first joint, so that second-hand's arm member rotates around the first rotating shaft relative to first-hand arm member, the second end of second-hand's arm member connects the first end of the 3rd arm parts by second joint, the first driving mechanism comprises the first motor and the first transmission mechanism, the first motor is arranged at the first end of second-hand's arm member, and drive the 3rd arm parts to rotate around the second rotating shaft relative to second-hand's arm member by the first transmission mechanism.
Wherein, the second rotating shaft is mutually vertical with the first rotating shaft.
Wherein, robot further comprises the 4th arm parts, the 3rd joint and the second driving mechanism, the second end of the 3rd arm parts connects the first end of the 4th arm parts by the 3rd joint, the second driving mechanism comprises the second motor and the second transmission mechanism, the second motor is arranged at the first end of second-hand's arm member, and drives the 4th arm parts to rotate around the 3rd rotating shaft relative to the 3rd arm parts by the second transmission mechanism.
Wherein, robot further comprises the 5th arm parts, the 4th joint and the 3rd driving mechanism, the second end of the 4th arm parts connects the first end of the 5th arm parts by the 4th joint, the 3rd driving mechanism comprises the 3rd motor and the 3rd transmission mechanism, the 3rd motor is arranged at the first end of second-hand's arm member, and drives the 5th arm parts to rotate around the 4th rotating shaft relative to the 4th arm parts by the 3rd transmission mechanism.
Wherein, the 3rd rotating shaft and the first rotating shaft are parallel to each other, and the 4th rotating shaft is mutually vertical with the first rotating shaft.
Wherein, robot comprises the first end that is arranged at second-hand's arm member and for connecting the electric interfaces of the first motor, the second motor and the 3rd motor.
Wherein, robot further comprises the 6th arm parts, the 5th joint and gravity balance device, the first end of the 6th arm parts connects the second end of first-hand arm member by the 5th joint, so that first-hand arm member rotates around the 5th rotating shaft that is parallel to the first rotating shaft relative to the 6th arm parts; Gravity balance device is arranged between first-hand arm member and the 6th arm parts, and it comprises: pressure cylinder; Piston, piston is arranged in pressure cylinder and pressure cylinder is divided into to the first pressure cylinder chamber and the second pressure cylinder chamber, and the second pressure cylinder chamber is provided with pressure oil; Piston rod, an end of piston rod is fixedly installed on piston, and the other end passes the end of pressure cylinder, and piston rod is reciprocating along pressure cylinder for driven plunger, at least one accumulator, accumulator is closed with gas, and communicates with pressure cylinder.
Wherein, gravity balance device further comprises spacing block, and accumulator is arranged in pressure cylinder, and spacing block is arranged between accumulator and the second pressure cylinder chamber, accumulator is arranged at spacing block through hole by correspondence communicates with the second pressure cylinder chamber, and it is indoor that piston rod is arranged on the first pressure cylinder.
Wherein, gravity balance device further comprises the valve piece, and it is outdoor that accumulator is arranged on the second pressure cylinder, and accumulator communicates with the second pressure cylinder chamber by being arranged at the outdoor valve piece of the second pressure cylinder, and it is indoor that piston rod is arranged on the second pressure cylinder.
Wherein, be provided with the first back shaft on first-hand arm member, be provided with the second back shaft on the 6th arm parts, wherein, the free end of the piston rod in gravity balance device rotates and is arranged on the first back shaft, in gravity balance device, away from the end of the pressure cylinder of piston rod, rotates and is arranged on the second back shaft.
The beneficial effects of the utility model are: the situation that is different from prior art, the utility model arranges the first motor by the first end at second-hand's arm member, and drive the 3rd arm parts to rotate around the second rotating shaft relative to second-hand's arm member by the first transmission mechanism, therefore, reduced second-hand's arm member volume, reduced weight and the rotary inertia of second-hand's arm member and then the pay(useful) load that has improved robot.
The accompanying drawing explanation
Fig. 1 is the front view of the robot of the utility model the first embodiment;
Fig. 2 is the stereogram of the robot of the utility model the first embodiment;
Fig. 3 is the schematic block diagram of the first driving mechanism, the second driving mechanism and the 3rd driving mechanism of the robot shown in Fig. 1 and Fig. 2;
Fig. 4 is the front view of a gravity balance device of robot of the present utility model;
Fig. 5 is the profile of the gravity balance device shown in Fig. 4;
Fig. 6 is the front view of another gravity balance device of robot of the present utility model;
Fig. 7 is the profile of the gravity balance device shown in Fig. 6.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is elaborated.
Please refer to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is the front view of the robot of the utility model the first embodiment, Fig. 2 is the stereogram of the robot of the utility model the first embodiment, and Fig. 3 is the schematic block diagram of the first driving mechanism, the second driving mechanism and the 3rd driving mechanism of the robot shown in Fig. 1 and Fig. 2.As shown in Figure 1, Figure 2 and Figure 3, robot 10 of the present utility model comprises first-hand arm member 11, the first joint 12, second-hand's arm member 13, second joint 14, the 3rd arm parts 15 and the first driving mechanism 16.
Wherein, the first end of first-hand arm member 11 is connected with the first end of second-hand's arm member 13 by the first joint 12, so that second-hand's arm member 13 rotates around the first rotating shaft 20 relative to first-hand arm member 11.The second end of second-hand's arm member 13 connects the first end of the 3rd arm parts 15 by second joint 14.The first driving mechanism 16 is for driving the 3rd arm parts 15.Wherein, the first driving mechanism 16 comprises the first motor 161 and the first transmission mechanism 162, wherein, the first motor 161 is arranged at the first end of second-hand's arm member 13, and drives the 3rd arm parts 15 to rotate around the second rotating shaft 21 relative to second-hand's arm member 13 by the first transmission mechanism 162.
Particularly, the first transmission mechanism 162 also further comprises gear-box 163, bearing 164, power transmission shaft 165 and decelerator 166.Wherein, the first motor 161 connection teeth roller boxs 163, bearing 164 is by power transmission shaft 165 rotational support in the inside of second-hand's arm member 13, and the two ends of power transmission shaft 165 are connection teeth roller box 163 and decelerator 166 respectively.Therefore, the first motor 161 driving gearboxs 163 rotate, the further transmission drive shaft 165 of gear-box 163, the rotating speed of 166 pairs of power transmission shafts 165 of decelerator carries out outputing to second joint 14 after reduction of speed, and then drives the 3rd arm parts 15 to rotate around the second rotating shaft 21 relative to second-hand's arm member 13 by second joint 14.
The robot 10 of the present embodiment further comprises the 4th arm parts 17, the 3rd joint 18 and the second driving mechanism 19.Wherein, the second end of the 3rd arm parts 15 connects the first end of the 4th arm parts 17 by the 3rd joint 18.The second driving mechanism 19 comprises the second motor 191 and the second transmission mechanism 192, the second motor 191 is arranged at the first end of second-hand's arm member 13, and drives the 4th arm parts 17 to rotate around the 3rd rotating shaft 22 relative to the 3rd arm parts 15 by the second transmission mechanism 192.
Particularly, the second transmission mechanism 192 also further comprises gear- box 193 and 197, bearing 194, power transmission shaft 195 and decelerator 196.Wherein, the second motor 191 connection teeth roller boxs 193, bearing 194 transmissions supporting shaft 195 are in the inside of power transmission shaft 165, and power transmission shaft 195 two ends are connection teeth roller box 193 and gear-box 197 respectively, the further connection reducer 196 of gear-box 197.Therefore, the second motor 191 driving gearboxs 193 rotate, the rotation of gear-box 193 is further by transmission drive shaft 195, gear-box 197 further carries out break-in to the rotation of power transmission shaft 195, and the rotating speed of 196 pairs of power transmission shafts 195 of decelerator carries out reduction of speed, then output to the 3rd joint 18, and then drive the 4th arm parts 17 to rotate around the 3rd rotating shaft 22 relative to the 3rd arm parts 15 by the 3rd joint 18.
The robot 10 of the present embodiment further comprises the 5th arm parts 120, the 4th joint 110 and the 3rd driving mechanism 130.Wherein, the second end of the 4th arm parts 17 connects the first end of the 5th arm parts 120 by the 4th joint 110.The 3rd driving mechanism 130 comprises the 3rd motor 131 and the 3rd transmission mechanism 132, the 3rd motor 131 is arranged at the first end of second-hand's arm member 13, and drives the 5th arm parts 120 to rotate around the 4th rotating shaft 23 relative to the 4th arm parts 17 by the 3rd transmission mechanism 132.
Particularly, the 3rd transmission mechanism 132 also further comprises gear- box 137 and 138, bearing 134, power transmission shaft 135 and decelerator 136.Wherein, the direct connection for transmission axle 135 of the 3rd motor 131, bearing 134 by power transmission shaft 135 rotational support in the inside of power transmission shaft 195, the further connection teeth roller box 137 of power transmission shaft 135, the further connection teeth roller box 138 of gear-box 137, the further connection reducer 136 of gear-box 138.Therefore, the 3rd motor 131 transmission drive shafts 135, gear- box 137 and 138 further carries out twice break-in to the rotation of power transmission shaft 135, and the rotating speed of 136 pairs of power transmission shafts 135 of decelerator carries out reduction of speed, then output to the 4th joint 110, and then drive the 5th arm parts 120 to rotate around the 4th rotating shaft 23 relative to the 3rd arm parts 17 by the 4th joint 110.
In the present embodiment, the second rotating shaft 21 is mutually vertical with the first rotating shaft 20, and the 3rd rotating shaft 22 and the first rotating shaft 20 be parallel to each other, and the 4th rotating shaft 23 is mutual vertical with the first rotating shaft 20.
From the above, the utility model, by the first motor, the second motor and the 3rd motor being arranged on to the first end of second-hand's arm member, then drives respectively the 3rd arm parts, the 4th arm parts and the 5th arm parts to rotate by the first transmission mechanism, the second transmission mechanism and the 3rd transmission mechanism respectively.Therefore, reduced second-hand's arm member volume, reduced weight and the rotary inertia of second-hand's arm member and then the pay(useful) load that has improved robot.
In the present embodiment, robot 10 also comprises the first end that is arranged at second-hand's arm member 13 and is preferred for connecting the electric interfaces 140 of the first motor 161, the second motor 191 and the 3rd motor 131.Therefore, when the system integration, only the cable of the first motor 161, the second motor 191 and the 3rd motor 131, pipeline etc. need be connected with electric interfaces 140 and get final product, without connecting up again, and then raise the efficiency and cost-saving.
In the present embodiment, robot 10 further comprises the 6th arm parts 150, the 5th joint 160 and gravity balance device 170.
Wherein, the first end of the 6th arm parts 150 connects the second end of first-hand arm member 11 by the 5th joint 160, so that first-hand arm member 11 rotates around the 5th rotating shaft 24 that is parallel to the first rotating shaft 20 relative to the 6th arm parts 150.
In the present embodiment, pressure cylinder 171 is hydraulic cylinder, for changing hydraulic energy into gravitional force, provides the power on piston rod 173 that acts on varied in size.In other embodiments, pressure cylinder 171 can be also pneumatic cylinder.
Piston 172 is arranged in pressure cylinder 171 and pressure cylinder 171 is divided into to the first pressure cylinder chamber 175 and the second pressure cylinder chamber 176, and the second pressure cylinder chamber 176 is provided with hydraulic oil.Wherein, piston 172 can be for circular, square etc., as long as its shape interior with pressure cylinder 171 is corresponding, this is not restricted for the utility model.
Piston rod 173 is arranged in the second pressure cylinder chamber 176, and an end of piston rod 173 is fixedly installed on piston 172, and the other end passes the end of pressure cylinder 171, and piston rod 173 is reciprocating along pressure cylinder 171 for driven plunger 172.
Wherein, the power on piston rod 173 of acting on is determined by effective area and the pressure difference between the second pressure cylinder chamber 176 and the first pressure cylinder chamber 175 of piston 172, the effective area of piston 172 is larger, pressure difference between the second pressure cylinder chamber 176 and the first pressure cylinder chamber 175 is larger, and the power acted on piston rod 173 is just larger.
Therefore, when piston rod 173 driven plunger 172 move to the direction near accumulator 174, hydraulic oil in the second pressure cylinder chamber 176 is pressed in accumulator 174 by valve piece 178, and the gas in accumulator 174 is because being pressed into of hydraulic oil makes volume reduce, and then pressure increases.The pressure of the second pressure cylinder chamber 176 be connected with accumulator 174 also increases thereupon, thereby causes the pressure difference between the second pressure cylinder chamber 176 and the first pressure cylinder chamber 175 to increase, and therefore, the power acted on piston rod 173 increases thereupon.
In other preferred embodiments, accumulator 174 can also for three or more than, three or above accumulator 174 parallel with one another, can further improve the power that acts on piston rod 173 gravity torque with the heavier longer first-hand arm member 11 of balance.
Further, gravity balance device 170 also comprises telescopic adapter sleeve 180, and adapter sleeve 180 is set on piston rod 173, in order to prevent the part that piston rod 173 passes pressure cylinder 171, is infected with upper dust.
In the present embodiment, end away from the pressure cylinder 171 of piston rod 173 in gravity balance device 170 is provided with the first cylinder body earrings 181, be provided with clutch shaft bearing 182 in the cavity volume of the first cylinder body earrings 181, the free end of piston rod 173 is provided with in the cavity volume of the second cylinder body earrings 183, the second cylinder body earrings 183 and is provided with the second bearing 184.Clutch shaft bearing 182 and the second bearing 184 can be arranged on gravity balance device 170 in robot 10 easily.
Particularly, see also Fig. 1 and Fig. 4, be provided with the first back shaft 111 on first-hand arm member 11, be provided with the second back shaft 151 on the 6th arm parts 150, wherein, clutch shaft bearing 182 in gravity balance device 170 rotates and is arranged on the second back shaft 151, and the second bearing 184 rotates and is arranged on the first back shaft 111.
Therefore, when first-hand arm member 11 during around the 5th joint 160 motion, the gas in piston rod 173 driven plunger 172 compress energy storage devices 174 is with the power of gravity torque that the first-hand arm member 11 of balance is provided.Particularly, when first-hand arm member 11, around the 5th joint 160 motion, and first-hand arm member 11 angle theta that departs from vertical direction is while progressively increasing, and the gravity torque of the first-hand arm member 11 that the 5th joint 160 is suffered progressively increases with the increase of angle theta.Particularly, the distance in center of gravity to the five joints 160 of the gravity that the gravity torque of first-hand arm member 11 is first-hand arm member 11 and first-hand arm member 11 and the product of sin θ, θ is increased to 90 degree from 0 degree, the value of sin θ is increased to 1 from 0, thus, the gravity torque of first-hand arm member 11 progressively increases.Along with the increase of the gravity torque of first-hand arm member 11, first-hand arm member 11 drives pistons 172 and moves towards accumulator 174.Increase along with piston 172 displacements, the power that acts on piston rod 173 progressively increases, further the moment with respect to the 5th joint 160 also increases thereupon, thereby the gravity torque of the first-hand arm member 11 to a great extent the 5th joint 160 born has produced good balanced action.In actual applications, the angle theta that departs from vertical direction when first-hand arm member 11 is less than 10 while spending, because the value of sin θ is close to 0, the five suffered gravity torque in joint 160, is close to 0, and the displacement occurred towards accumulator 174 is close to zero.
Therefore, gravity balance device of the present utility model comprises pressure cylinder, piston, piston rod and accumulator.Wherein, the accumulator inner sealing has gas.When the piston rod driven plunger is reciprocating along pressure cylinder, the power on piston rod that acts on varied in size with generation by the gas in compression and release accumulator.The utility model utilizes the compressibility of gas to realize gravitational equilibrium, make the very gas of small size just can produce the very large power on piston rod that acts on, so gravity balance device has little, the lightweight characteristics of volume.
Please refer to Fig. 6 and Fig. 7, Fig. 6 is the front view of another gravity balance device of robot of the present utility model, and Fig. 7 is the profile of the described gravity balance device of Fig. 6.As shown in Figure 6 and Figure 7, gravity balance device 50 still comprises pressure cylinder 51, piston 52, piston rod 53, accumulator 54, the first cylinder body earrings 55, clutch shaft bearing 56, the second cylinder body earrings 57, the second bearing 58 and adapter sleeve 59.Wherein, piston rod 53 is divided into the first pressure cylinder chamber 510 and the second pressure cylinder chamber 511 to pressure cylinder 51, and in the second pressure cylinder chamber 511, hydraulic oil is arranged.
Wherein, the gravity balance device 50 of the present embodiment is with the difference of the gravity balance device 170 shown in Fig. 4 and Fig. 5:
Piston thick stick 53 is arranged in the first pressure cylinder chamber 510.
The gravity balance device 50 of the present embodiment also comprises spacing block 512, accumulator 54 is one, be arranged in pressure cylinder 51 and be positioned near 511 places, the second pressure cylinder chamber, spacing block 512 is arranged between accumulator 54 and the second pressure cylinder chamber 511, and accumulator 54 is arranged at spacing block 512 through hole 513 by correspondence communicates with the second pressure cylinder chamber 511.
In the present embodiment, accumulator 54 is arranged in pressure cylinder 51, can reduce the volume of gravity balance device 50, and the gravity balance device 50 that prevents from being arranged in robot bumps with robot and surrounding environment in the process of motion.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model specification and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present utility model.
Claims (10)
1. a robot, it is characterized in that, described robot comprises first-hand arm member, the first joint, second-hand's arm member, second joint, the 3rd arm parts and the first driving mechanism, the first end of described first-hand arm member is connected with the first end of described second-hand's arm member by described the first joint, so that described second-hand's arm member rotates around the first rotating shaft relative to described first-hand arm member, the second end of described second-hand's arm member connects the first end of described the 3rd arm parts by described second joint, described the first driving mechanism comprises the first motor and the first transmission mechanism, described the first motor is arranged at the first end of described second-hand's arm member, and drive described the 3rd arm parts to rotate around the second rotating shaft relative to described second-hand's arm member by described the first transmission mechanism.
2. robot according to claim 1, is characterized in that, described the second rotating shaft is mutually vertical with described the first rotating shaft.
3. robot according to claim 1 and 2, it is characterized in that, described robot further comprises the 4th arm parts, the 3rd joint and the second driving mechanism, the second end of described the 3rd arm parts connects the first end of described the 4th arm parts by described the 3rd joint, described the second driving mechanism comprises the second motor and the second transmission mechanism, described the second motor is arranged at the first end of described second-hand's arm member, and drives described the 4th arm parts to rotate around the 3rd rotating shaft relative to described the 3rd arm parts by described the second transmission mechanism.
4. robot according to claim 3, it is characterized in that, described robot further comprises the 5th arm parts, the 4th joint and the 3rd driving mechanism, the second end of described the 4th arm parts connects the first end of described the 5th arm parts by described the 4th joint, described the 3rd driving mechanism comprises the 3rd motor and the 3rd transmission mechanism, described the 3rd motor is arranged at the first end of described second-hand's arm member, and drives described the 5th arm parts to rotate around the 4th rotating shaft relative to described the 4th arm parts by described the 3rd transmission mechanism.
5. robot according to claim 4, is characterized in that, described the 3rd rotating shaft and described the first rotating shaft are parallel to each other, and described the 4th rotating shaft is mutually vertical with described the first rotating shaft.
6. robot according to claim 4, is characterized in that, described robot comprises the first end that is arranged at described second-hand's arm member and for connecting the electric interfaces of described the first motor, described the second motor and described the 3rd motor.
7. robot according to claim 1, is characterized in that, described robot further comprises the 6th arm parts, the 5th joint and gravity balance device, wherein:
The first end of described the 6th arm parts connects the second end of described first-hand arm member by described the 5th joint, so that described first-hand arm member rotates around the 5th rotating shaft that is parallel to described the first rotating shaft relative to described the 6th arm parts;
Described gravity balance device is arranged between described first-hand arm member and described the 6th arm parts, and it comprises:
Pressure cylinder;
Piston, described piston is arranged in described pressure cylinder and described pressure cylinder is divided into to the first pressure cylinder chamber and the second pressure cylinder chamber, and described the second pressure cylinder chamber is provided with hydraulic oil;
Piston rod, an end of described piston rod is fixedly installed on described piston, and the other end passes the end of described pressure cylinder, and described piston rod is used for driving described piston reciprocating along described pressure cylinder,
At least one accumulator, described accumulator is closed with gas, and communicates with described pressure cylinder.
8. robot according to claim 7, it is characterized in that, described gravity balance device further comprises spacing block, described accumulator is arranged in described pressure cylinder, described spacing block is arranged between described accumulator and described the second pressure cylinder chamber, described accumulator is arranged at described spacing block through hole by correspondence communicates with described the second pressure cylinder chamber, and it is indoor that described piston rod is arranged on described the first pressure cylinder.
9. robot according to claim 7, it is characterized in that, described gravity balance device further comprises the valve piece, it is outdoor that described accumulator is arranged on described the second pressure cylinder, described accumulator communicates with described the second pressure cylinder chamber by being arranged at the outdoor described valve piece of described the second pressure cylinder, and it is indoor that described piston rod is arranged on described the second pressure cylinder.
10. robot according to claim 7, it is characterized in that, be provided with the first back shaft on described first-hand arm member, be provided with the second back shaft on described the 6th arm parts, wherein, the free end of the described piston rod in described gravity balance device rotates and is arranged on described the first back shaft, in described gravity balance device, away from the end of the described pressure cylinder of described piston rod, rotates and is arranged on described the second back shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220653710 CN202952263U (en) | 2012-11-30 | 2012-11-30 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220653710 CN202952263U (en) | 2012-11-30 | 2012-11-30 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202952263U true CN202952263U (en) | 2013-05-29 |
Family
ID=48457856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220653710 Expired - Lifetime CN202952263U (en) | 2012-11-30 | 2012-11-30 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202952263U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149089A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular series master robot |
| CN107283099A (en) * | 2017-05-04 | 2017-10-24 | 成都特普瑞斯节能环保科技有限公司 | A kind of balancing stand for welding machine |
| CN107283100A (en) * | 2017-05-04 | 2017-10-24 | 成都特普瑞斯节能环保科技有限公司 | One kind balance welding machine |
| CN107756433A (en) * | 2016-08-18 | 2018-03-06 | 大连精维液压技术有限公司 | A kind of robot and its high pulling torque rotary type joint power device |
| CN109661295A (en) * | 2016-12-30 | 2019-04-19 | 深圳配天智能技术研究院有限公司 | Balance system and industrial robot for industrial robot |
| CN110671419A (en) * | 2019-10-10 | 2020-01-10 | 江苏博人文化科技有限公司 | Rotation joint structure of amusement facility |
| CN110762067A (en) * | 2019-11-27 | 2020-02-07 | 江苏博人文化科技有限公司 | Balance actuator for rotary joint |
| CN113492398A (en) * | 2020-04-02 | 2021-10-12 | 北京配天技术有限公司 | Calibration rod, calibration system for gravity acceleration direction and calibration method thereof |
-
2012
- 2012-11-30 CN CN 201220653710 patent/CN202952263U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149089A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular series master robot |
| CN107756433A (en) * | 2016-08-18 | 2018-03-06 | 大连精维液压技术有限公司 | A kind of robot and its high pulling torque rotary type joint power device |
| CN109661295A (en) * | 2016-12-30 | 2019-04-19 | 深圳配天智能技术研究院有限公司 | Balance system and industrial robot for industrial robot |
| CN107283099A (en) * | 2017-05-04 | 2017-10-24 | 成都特普瑞斯节能环保科技有限公司 | A kind of balancing stand for welding machine |
| CN107283100A (en) * | 2017-05-04 | 2017-10-24 | 成都特普瑞斯节能环保科技有限公司 | One kind balance welding machine |
| CN110671419A (en) * | 2019-10-10 | 2020-01-10 | 江苏博人文化科技有限公司 | Rotation joint structure of amusement facility |
| CN110671419B (en) * | 2019-10-10 | 2020-09-04 | 江苏博人文化科技有限公司 | Rotation joint structure of amusement facility |
| CN110762067A (en) * | 2019-11-27 | 2020-02-07 | 江苏博人文化科技有限公司 | Balance actuator for rotary joint |
| CN110762067B (en) * | 2019-11-27 | 2022-01-18 | 江苏博人文化科技有限公司 | Balance actuator for rotary joint |
| CN113492398A (en) * | 2020-04-02 | 2021-10-12 | 北京配天技术有限公司 | Calibration rod, calibration system for gravity acceleration direction and calibration method thereof |
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