CN204117481U - A kind of Multi-freedom-degreemanipulator manipulator teaching aid - Google Patents
A kind of Multi-freedom-degreemanipulator manipulator teaching aid Download PDFInfo
- Publication number
- CN204117481U CN204117481U CN201420474809.3U CN201420474809U CN204117481U CN 204117481 U CN204117481 U CN 204117481U CN 201420474809 U CN201420474809 U CN 201420474809U CN 204117481 U CN204117481 U CN 204117481U
- Authority
- CN
- China
- Prior art keywords
- arm
- hinged
- connecting rod
- driven
- disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model discloses a kind of Multi-freedom-degreemanipulator manipulator teaching aid, comprise base plate and platform, elevating mechanism is provided with between described base plate and platform, described platform upper surface is provided with rotary table, described rotary table comprises driven turntable and active rotating disk, gangbar is provided with between described driven turntable and active rotating disk, described driven turntable and initiatively rotating disk rotate respectively and are fixed on platform upper surface, described driven turntable is provided with hydraulic drive type mechanical arm, and described hydraulic drive type mechanical arm comprises deck and mechanical arm.The utility model can realize the VTOL (vertical take off and landing) of rotary table, improves the stationarity of lifting process, and the modular construction of mechanical arm and hydraulic system are more simple, are more applicable for teaching aid.
Description
Technical field
The utility model relates to a kind of Multi-freedom-degreemanipulator manipulator teaching aid.
Technical background
In conventional teaching aid, usually use linkage assembly to realize lifting and the spinning movement of teaching aid, but traditional bar linkage structure realizes VTOL (vertical take off and landing) difficulty, be difficult to the operation that the satisfied platform higher to level requirement is elevated.
Mechanical arm adopts hydraulic-driven usually, completes the actions such as gripping and lifting, and mechanical hand hydraulic system architecture of the prior art is complicated, is difficult to be applied to micromanipulator demonstration teaching aid, cannot provides simply distinct teaching demonstration to student.
Utility model content
Technical problem to be solved in the utility model is just to provide a kind of Multi-freedom-degreemanipulator manipulator teaching aid, can realize the VTOL (vertical take off and landing) of rotary table, improves the stationarity of lifting process, and the modular construction of mechanical arm and hydraulic system are more simple, are more applicable for teaching aid.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of Multi-freedom-degreemanipulator manipulator teaching aid, comprise base plate and platform, elevating mechanism is provided with between described base plate and platform, described elevating mechanism comprises fixed bar, support bar, lifting arm, swing arm, first connecting rod, second connecting rod, third connecting rod and double leval jib, described fixed bar perpendicular to base plate and fixed bar lower end and plate upper surface be connected, the lower end of described fixed bar one side and the rear end of first connecting rod is hinged and the upper end of this side and swing arm centre is hinged, the lower end of described fixed bar another side and the rear end of second connecting rod hinged, the front end of described swing arm and the upper end thereof of lifting arm, the lower end of described lifting arm respectively with the front end of second connecting rod and the front end of third connecting rod hinged, the rear end of described third connecting rod and the lower end of support bar hinged, upper end and the platform lower surface of described support bar are connected, the centre of described support bar and the rear end of double leval jib hinged, the front end of described double leval jib and the front end of first connecting rod hinged, the described centre of double leval jib and the upper end thereof of lifting arm, described swing arm is parallel with second connecting rod, described platform upper surface is provided with rotary table, described rotary table comprises driven turntable and active rotating disk, gangbar is provided with between described driven turntable and active rotating disk, described driven turntable and initiatively rotating disk rotate respectively and are fixed on platform upper surface, described driven turntable is provided with hydraulic drive type mechanical arm, described hydraulic drive type mechanical arm comprises deck and mechanical arm, described mechanical arm comprises principal arm, attached arm, lift arm and pawl arm, described principal arm lower end and deck hinged, the upper end of described principal arm and one end of attached arm hinged, the other end of described attached arm and the upper end thereof of pawl arm, hinged and the centre of lift arm in one end of described lift arm and the centre of pawl arm and principal arm hinged, the other end of described lift arm and the upper end thereof of the first hydraulic cylinder, lower end and the deck of described first hydraulic cylinder are hinged, the both sides of described principal arm are respectively equipped with the second hydraulic cylinder, upper end and the principal arm of described second hydraulic cylinder are hinged, upper end and the deck of described second hydraulic cylinder are hinged, lower end and the jaw of described pawl arm are hinged, described jaw is provided with the 3rd hydraulic cylinder controlling jaw and open and close, described first hydraulic cylinder, second hydraulic cylinder, 3rd hydraulic cylinder is communicated with hydraulic-driven pipe respectively.
Preferably, described fixed bar, support bar, lifting arm, second connecting rod, third connecting rod and double leval jib are set to two and symmetrical with the vertical central plane of first connecting rod respectively respectively, the first axle is provided with between two fixed bars, the second axle is provided with between the upper end of two lifting arms, the 3rd axle is provided with between the front end of two double leval jib, the centre of described swing arm is set on the first axle, and the front end of described swing arm is set on the second axle, and the front end of described first connecting rod is set on the 3rd axle.
Preferably, the two ends of described second axle are each passed through lifting arm and are connected with the centre of double leval jib, described 3rd axle, and the lower end of two lifting arms is respectively equipped with the 4th axle, one end of described 4th axle is connected with second connecting rod, and the other end of described 4th axle is connected with third connecting rod.
Preferably, described driven turntable comprises driven upper disk and driven lower disc, described active rotating disk comprises initiatively goes up disk and active lower disc, described gangbar comprises gangbar and lower gangbar, described upper gangbar one end is connected with the upper surface of driven upper disk, the described upper gangbar other end is connected with the upper surface of initiatively going up disk, and described lower gangbar one end is connected with the upper surface of driven lower disc, and the described lower gangbar other end is connected with the upper surface of active lower disc.
Preferably, the first straight pin is provided with between described driven upper disk and driven lower disc, described active is provided with the second straight pin between disk and active lower disc, described first straight pin upper end is connected with driven upper disk, described first straight pin lower end is connected with driven lower disc through one end of lower gangbar, described second straight pin upper end with initiatively go up disk and be connected, described second straight pin lower end is connected with driven lower disc through the other end of lower gangbar.
Preferably, the tie point of described driven upper disk and upper gangbar and driven upper disk equal with the wire length of driven upper circle disk center respectively and mutually vertical with the tie point of the first straight pin.
Preferably, the side of described deck is provided with draw-in groove, and the both sides cell wall that in draw-in groove and principal arm lower end and draw-in groove lower end is stretched in described principal arm lower end is hinged.
Preferably, described principal arm upper end is provided with groove, and one end and the groove both sides cell wall of described attached arm are hinged, one end of described lift arm through groove and the arm body of lift arm and groove both sides cell wall hinged.
Preferably, described groove is provided with the jointed shaft through groove and lift arm, and the two ends of described jointed shaft pass the cell wall of groove and the second hydraulic cylinder is rotationally connected.
Preferably, upper end and the attached arm of described 3rd hydraulic cylinder are hinged, the lower end of described 3rd hydraulic cylinder and the outside of jaw hinged.
The utility model adopts technique scheme, because swing arm is parallel with second connecting rod, and fixed bar is vertical with base plate, according to quadrilateral principle, lifting arm moves perpendicular to base plate all the time with fixed bar keeping parallelism and lifting arm all the time, the line of the tie point of double leval jib two ends and lifting arm and support bar is parallel with second connecting rod, therefore lifting arm drives support bar vertical movement, thus achieve the VTOL (vertical take off and landing) of platform upper rotary base, when swing arm is rotated, double leval jib makes support bar rising or falling speed reduce, in conjunction with first connecting rod, second connecting rod, third connecting rod coordinates double leval jib to rotate, make the lifting of support bar more stable,
Mechanical arm is hinged by principal arm, attached arm, lift arm and pawl arm, simple and compact for structure, efficiency is higher, the motion of the first hydraulic cylinder, the second hydraulic cylinder and the 3rd hydraulic cylinder is controlled respectively by the increase and decrease pressure of hydraulic-driven pipe, enormously simplify fluid power system, also can be filled with air in hydraulic-driven pipe, the first hydraulic cylinder, the second hydraulic cylinder and the 3rd hydraulic cylinder and replace hydraulic oil, the action of mechanical arm can be realized equally, further fluid power system Pneumatically driven system be can be reduced to, cost and later maintenance intensity reduced.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described further:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the front view of the utility model centering guide;
Fig. 3 is the structural representation of elevating mechanism in the utility model;
Fig. 4 is the structural representation of rotary table in the utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated.
As shown in Figures 1 to 4, the utility model comprises base plate 1 and platform 2, elevating mechanism 3 is provided with between described base plate and platform, described elevating mechanism comprises fixed bar 301, support bar 302, lifting arm 303, swing arm 304, first connecting rod 305, second connecting rod 306, third connecting rod 307 and double leval jib 308, described fixed bar perpendicular to base plate and fixed bar lower end and plate upper surface be connected, the lower end of described fixed bar one side and the rear end of first connecting rod is hinged and the upper end of this side and swing arm centre is hinged, the lower end of described fixed bar another side and the rear end of second connecting rod hinged, the front end of described swing arm and the upper end thereof of lifting arm, the lower end of described lifting arm respectively with the front end of second connecting rod and the front end of third connecting rod hinged, the rear end of described third connecting rod and the lower end of support bar hinged, upper end and the platform lower surface of described support bar are connected, the centre of described support bar and the rear end of double leval jib hinged, the front end of described double leval jib and the front end of first connecting rod hinged, the described centre of double leval jib and the upper end thereof of lifting arm, described swing arm is parallel with second connecting rod, described platform upper surface is provided with rotary table 4, described rotary table comprises driven turntable 401 and active rotating disk 402, gangbar 403 is provided with between described driven turntable and active rotating disk, described driven turntable and initiatively rotating disk rotate respectively and are fixed on platform upper surface, described driven turntable is provided with hydraulic drive type mechanical arm, described hydraulic drive type mechanical arm comprises deck 501 and mechanical arm 5, described mechanical arm comprises principal arm 502, attached arm 503, lift arm 504 and pawl arm 505, described principal arm lower end and deck hinged, the upper end of described principal arm and one end of attached arm hinged, the other end of described attached arm and the upper end thereof of pawl arm, hinged and the centre of lift arm in one end of described lift arm and the centre of pawl arm and principal arm hinged, the other end of described lift arm and the upper end thereof of the first hydraulic cylinder 506, lower end and the deck of described first hydraulic cylinder are hinged, the both sides of described principal arm are respectively equipped with the second hydraulic cylinder 507, upper end and the principal arm of described second hydraulic cylinder are hinged, upper end and the deck of described second hydraulic cylinder are hinged, lower end and the jaw 5051 of described pawl arm are hinged, described jaw is provided with the 3rd hydraulic cylinder 508 controlling jaw and open and close, described first hydraulic cylinder, second hydraulic cylinder, 3rd hydraulic cylinder is communicated with hydraulic-driven pipe 509 respectively.
The side of described deck 501 is provided with draw-in groove 5011, and the both sides cell wall that in draw-in groove and principal arm lower end and draw-in groove lower end is stretched in described principal arm lower end is hinged.Described principal arm upper end is provided with groove 5021, and one end and the groove both sides cell wall of described attached arm 503 are hinged, one end of described lift arm 504 through groove and the arm body of lift arm and groove both sides cell wall hinged.Described groove 5021 is provided with the jointed shaft 5022 through groove and lift arm 504, and the two ends of described jointed shaft pass the cell wall of groove and the second hydraulic cylinder 507 is rotationally connected.Upper end and the attached arm 503 of described 3rd hydraulic cylinder 508 are hinged, the lower end of described 3rd hydraulic cylinder 508 and the outside of jaw 5051 hinged.
As shown in Figure 2 and Figure 4, described deck 501 lower end is fixed on disk 6;
The first of disk installs embodiment: disk lower end is provided with joint pin 601, and described joint pin upper end is connected with disk lower surface and the axle center of joint pin overlaps with disk turning axle.This structure makes mechanical arm around the axle center rotation of clutch plate.
The second of disk installs embodiment: the top, one end that described upper gangbar 4031 is connected with driven upper disk 4011 is provided with projection 405, and the upper end of described projection is connected with disk lower surface and the axle center of projection overlaps with disk turning axle.This structure makes mechanical arm revolve round the sun around the axle center of clutch plate.
As shown in Figure 3, described fixed bar 301, support bar 302, lifting arm 303, second connecting rod 306, third connecting rod 307 and double leval jib 308 are set to two and symmetrical with the vertical central plane of first connecting rod 305 respectively respectively, the first axle 3011 is provided with between two fixed bars, the second axle 3031 is provided with between the upper end of two lifting arms, the 3rd axle 3081 is provided with between the front end of two double leval jib, the centre of described swing arm 304 is set on the first axle, the front end of described swing arm is set on the second axle, and the front end of described first connecting rod is set on the 3rd axle.
The two ends of described second axle 3031 are each passed through lifting arm 303 and are connected with the centre of double leval jib 308, described 3rd axle 3081, the lower end of two lifting arms 303 is respectively equipped with the 4th axle 3032, one end of described 4th axle is connected with second connecting rod 306, and the other end of described 4th axle is connected with third connecting rod 307.
As shown in Figure 4, described driven turntable 401 comprises driven upper disk 4011 and driven lower disc 4012, described active rotating disk 402 comprises initiatively goes up disk 4011 and active lower disc 4012, described gangbar 403 comprises gangbar 4031 and lower gangbar 4032, described upper gangbar one end is connected with the upper surface of driven upper disk, the described upper gangbar other end is connected with the upper surface of initiatively going up disk, described lower gangbar one end is connected with the upper surface of driven lower disc, and the described lower gangbar other end is connected with the upper surface of active lower disc.The first straight pin 4041 is provided with between described driven upper disk 4011 and driven lower disc 4012, disk 4011 in described active) and be initiatively provided with the second straight pin 4042 between lower disc 4012, described first straight pin upper end is connected with driven upper disk, described first straight pin lower end is connected with driven lower disc through one end of lower gangbar 4032, described second straight pin upper end with initiatively go up disk and be connected, described second straight pin lower end is connected with driven lower disc through the other end of lower gangbar 4032.Tie point and the driven upper disk of described driven upper disk 4011 and upper gangbar 4031 are equal with the wire length of driven upper circle disk center respectively and mutually vertical with the tie point of the first straight pin 4041.
When the tie point of driven upper disk 4011 and upper gangbar 4031 is positioned at dead-centre position, the tie point of driven upper disk and the first straight pin 4041 and the line of driven upper circle disk center are perpendicular to driven upper disk 4011 and the tie point of upper gangbar 4031 and the line of driven upper circle disk center, therefore the tie point of driven upper disk and the first straight pin 4041 can help the tie point of driven upper disk 4011 and upper gangbar 4031 to overcome dead-centre position by smooth rotation, whole rotary table just can reach slow 360 degree of rotations, also sense of rotation can be changed at an arbitrary position, thus overcome the dead point phenomenon of four-bar mechanism.
Be described with regard to the utility model preferred embodiment above, but can not be interpreted as it is limitations on claims.The utility model is not only confined to above embodiment, its concrete structure allows to change, those skilled in the art can make various change and distortion according to the utility model, only otherwise depart from spirit of the present utility model, all belong to the scope that the utility model claims define.
Claims (10)
1. a Multi-freedom-degreemanipulator manipulator teaching aid, comprise base plate (1) and platform (2), elevating mechanism (3) is provided with between described base plate and platform, it is characterized in that: described elevating mechanism comprises fixed bar (301), support bar (302), lifting arm (303), swing arm (304), first connecting rod (305), second connecting rod (306), third connecting rod (307) and double leval jib (308), described fixed bar perpendicular to base plate and fixed bar lower end and plate upper surface be connected, the lower end of described fixed bar one side and the rear end of first connecting rod is hinged and the upper end of this side and swing arm centre is hinged, the lower end of described fixed bar another side and the rear end of second connecting rod hinged, the front end of described swing arm and the upper end thereof of lifting arm, the lower end of described lifting arm respectively with the front end of second connecting rod and the front end of third connecting rod hinged, the rear end of described third connecting rod and the lower end of support bar hinged, upper end and the platform lower surface of described support bar are connected, the centre of described support bar and the rear end of double leval jib hinged, the front end of described double leval jib and the front end of first connecting rod hinged, the described centre of double leval jib and the upper end thereof of lifting arm, described swing arm is parallel with second connecting rod, described platform upper surface is provided with rotary table (4), described rotary table comprises driven turntable (401) and active rotating disk (402), gangbar (403) is provided with between described driven turntable and active rotating disk, described driven turntable and initiatively rotating disk rotate respectively and are fixed on platform upper surface, described driven turntable is provided with hydraulic drive type mechanical arm, described hydraulic drive type mechanical arm comprises deck (501) and mechanical arm (5), described mechanical arm comprises principal arm (502), attached arm (503), lift arm (504) and pawl arm (505), described principal arm lower end and deck hinged, the upper end of described principal arm and one end of attached arm hinged, the other end of described attached arm and the upper end thereof of pawl arm, hinged and the centre of lift arm in one end of described lift arm and the centre of pawl arm and principal arm hinged, the other end of described lift arm and the upper end thereof of the first hydraulic cylinder (506), lower end and the deck of described first hydraulic cylinder are hinged, the both sides of described principal arm are respectively equipped with the second hydraulic cylinder (507), upper end and the principal arm of described second hydraulic cylinder are hinged, upper end and the deck of described second hydraulic cylinder are hinged, lower end and the jaw (5051) of described pawl arm are hinged, described jaw is provided with the 3rd hydraulic cylinder (508) controlling jaw and open and close, described first hydraulic cylinder, second hydraulic cylinder, 3rd hydraulic cylinder is communicated with hydraulic-driven pipe (509) respectively.
2. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 1, it is characterized in that: described fixed bar (301), support bar (302), lifting arm (303), second connecting rod (306), third connecting rod (307) and double leval jib (308) are set to two and symmetrical with the vertical central plane of first connecting rod (305) respectively respectively, the first axle (3011) is provided with between two fixed bars, the second axle (3031) is provided with between the upper end of two lifting arms, the 3rd axle (3081) is provided with between the front end of two double leval jib, the centre of described swing arm (304) is set on the first axle, the front end of described swing arm is set on the second axle, the front end of described first connecting rod is set on the 3rd axle.
3. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 2, it is characterized in that: the two ends of described second axle (3031) are each passed through lifting arm (303) and are connected with the centre of double leval jib (308), described 3rd axle (3081), the lower end of two lifting arms (303) is respectively equipped with the 4th axle (3032), one end of described 4th axle is connected with second connecting rod (306), and the other end of described 4th axle is connected with third connecting rod (307).
4. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 3, it is characterized in that: described driven turntable (401) comprises driven upper disk (4011) and driven lower disc (4012), described active rotating disk (402) comprises initiatively goes up disk (4011) and active lower disc (4012), described gangbar (403) comprises gangbar (4031) and lower gangbar (4032), described upper gangbar one end is connected with the upper surface of driven upper disk, the described upper gangbar other end is connected with the upper surface of initiatively going up disk, described lower gangbar one end is connected with the upper surface of driven lower disc, the described lower gangbar other end is connected with the upper surface of active lower disc.
5. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 4, it is characterized in that: between described driven upper disk (4011) and driven lower disc (4012), be provided with the first straight pin (4041), described active is provided with the second straight pin (4042) between disk (4011) and active lower disc (4012), described first straight pin upper end is connected with driven upper disk, described first straight pin lower end is connected with driven lower disc through one end of lower gangbar (4032), described second straight pin upper end with initiatively go up disk and be connected, described second straight pin lower end is connected with driven lower disc through the other end of lower gangbar (4032).
6. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 5, is characterized in that: tie point and the driven upper disk of described driven upper disk (4011) and upper gangbar (4031) are equal with the wire length of driven upper circle disk center respectively and mutually vertical with the tie point of the first straight pin (4041).
7. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 6, it is characterized in that: the side of described deck (501) is provided with draw-in groove (5011), and the both sides cell wall that in draw-in groove and principal arm lower end and draw-in groove lower end is stretched in described principal arm lower end is hinged.
8. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 7, it is characterized in that: described principal arm upper end is provided with groove (5021), one end and the groove both sides cell wall of described attached arm (503) are hinged, one end of described lift arm (504) through groove and the arm body of lift arm and groove both sides cell wall hinged.
9. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 8, it is characterized in that: described groove (5021) is provided with the jointed shaft (5022) through groove and lift arm (504), the two ends of described jointed shaft pass the cell wall of groove and the second hydraulic cylinder (507) is rotationally connected.
10. a kind of Multi-freedom-degreemanipulator manipulator teaching aid according to claim 9, it is characterized in that: upper end and the attached arm (503) of described 3rd hydraulic cylinder (508) are hinged, the lower end of described 3rd hydraulic cylinder (508) and the outside of jaw (5051) hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420474809.3U CN204117481U (en) | 2014-08-21 | 2014-08-21 | A kind of Multi-freedom-degreemanipulator manipulator teaching aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420474809.3U CN204117481U (en) | 2014-08-21 | 2014-08-21 | A kind of Multi-freedom-degreemanipulator manipulator teaching aid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204117481U true CN204117481U (en) | 2015-01-21 |
Family
ID=52334771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420474809.3U Expired - Fee Related CN204117481U (en) | 2014-08-21 | 2014-08-21 | A kind of Multi-freedom-degreemanipulator manipulator teaching aid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204117481U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104157205A (en) * | 2014-08-21 | 2014-11-19 | 浙江工业职业技术学院 | Multi-freedom manipulator teaching aid |
| CN107143734A (en) * | 2017-06-16 | 2017-09-08 | 合肥宝创电子科技有限公司 | A kind of multiple degrees of freedom lifting structure |
| CN108847083A (en) * | 2018-07-27 | 2018-11-20 | 温州大学 | Simulation training system for a variety of industrial robots |
| CN109615970A (en) * | 2019-01-16 | 2019-04-12 | 张海波 | A kind of hydraulic control mechanical arm dismounting practical traning platform |
-
2014
- 2014-08-21 CN CN201420474809.3U patent/CN204117481U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104157205A (en) * | 2014-08-21 | 2014-11-19 | 浙江工业职业技术学院 | Multi-freedom manipulator teaching aid |
| CN107143734A (en) * | 2017-06-16 | 2017-09-08 | 合肥宝创电子科技有限公司 | A kind of multiple degrees of freedom lifting structure |
| CN108847083A (en) * | 2018-07-27 | 2018-11-20 | 温州大学 | Simulation training system for a variety of industrial robots |
| CN109615970A (en) * | 2019-01-16 | 2019-04-12 | 张海波 | A kind of hydraulic control mechanical arm dismounting practical traning platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204117481U (en) | A kind of Multi-freedom-degreemanipulator manipulator teaching aid | |
| CN206502368U (en) | A kind of switching mechanism | |
| CN202360049U (en) | Sleeve alignment manipulator | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN204308459U (en) | Double leval jib swing mechanism | |
| WO2019237875A1 (en) | Manipulator-based drawing mechanism | |
| CN202411265U (en) | Rotating and lifting device | |
| CN204675670U (en) | A kind of balance both arms cantilever crane | |
| CN203317424U (en) | Mechanical arm | |
| CN104596565A (en) | Large-angle swinging test table | |
| CN104157205B (en) | A kind of Multi-freedom-degreemanipulator manipulator teaching aid | |
| CN204439111U (en) | A kind of wide-angle swinging experiment table | |
| CN204108994U (en) | A kind of liftable rotary table | |
| CN203919055U (en) | Lever intake manipulator | |
| CN106493847B (en) | A kind of charging crane and its storage base assembly line | |
| CN206953007U (en) | A kind of arm lowering or hoisting gear of conveying robot | |
| CN204108991U (en) | A kind of hydraulic drive type manipulator | |
| CN205441785U (en) | Transfer chain elevating gear | |
| CN206484551U (en) | A kind of industrial robot system controlled based on PLC | |
| CN204264973U (en) | Cam-type lifts registration device | |
| CN203120528U (en) | Reciprocating thrusting device for suspension type edible mushroom planting devices | |
| CN202849271U (en) | Turning machine | |
| CN208394301U (en) | A kind of feeding device based on artificial intelligence | |
| CN205380687U (en) | Press from both sides pole tong | |
| CN205011272U (en) | Be applied to stone hoisting accessory of ecological river course construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150121 Termination date: 20150821 |
|
| EXPY | Termination of patent right or utility model |