CN204525465U - A kind of five free mechanical arms - Google Patents

A kind of five free mechanical arms Download PDF

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Publication number
CN204525465U
CN204525465U CN201520079546.0U CN201520079546U CN204525465U CN 204525465 U CN204525465 U CN 204525465U CN 201520079546 U CN201520079546 U CN 201520079546U CN 204525465 U CN204525465 U CN 204525465U
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CN
China
Prior art keywords
base
forearm
postbrachium
motor
hinged
Prior art date
Application number
CN201520079546.0U
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Chinese (zh)
Inventor
史伟民
葛宏伟
杨亮亮
许守金
应思齐
顾小东
Original Assignee
浙江理工大学
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Application filed by 浙江理工大学 filed Critical 浙江理工大学
Priority to CN201520079546.0U priority Critical patent/CN204525465U/en
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Publication of CN204525465U publication Critical patent/CN204525465U/en

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Abstract

A kind of five free mechanical arms, pedestal is arranged on base plate (1), base is arranged on pedestal rotationally, postbrachium is hinged on base, one end of front shoulder joint and one end of postbrachium are hinged on same pivot on base, the other end of postbrachium and forearm (7) hinged, the other end of front shoulder joint and one end of forearm muscle hinged, the other end of forearm muscle and the rear end of forearm hinged, described postbrachium, forearm, forearm muscle, forearm joint composition parallel-crank mechanism; Wrist joint rear end is rotatably connected to the front end of forearm, and palm is installed in rotation on carpal front end.The utility model has the advantages that: self weight suspension is light, stable action, control are accurately.

Description

A kind of five free mechanical arms
Technical field
The utility model relates to a kind of mechanical arm, is applied to the occasions such as welding, boring, carrying, graphing, the turn of the screw.
Technical background
The mechanical arm technology applied in industry is the new and high technology concentrated the multiple subjects such as theory of mechanisms, informatics, sensing technology and automatic control and formed, along with the extensive use of mechanical arm in industrial circle, the conceptual design of mechanical arm is updated and is innovated, improve constantly the performances such as control accuracy, stability and production efficiency, according to the difference of application scenario, the design of mechanical arm is also varied.
But existing machinery arm mechanism is complicated, from great, clumsy in one's movement, transmission efficiency is low, when there being offset placed load, action stability is poor.
Summary of the invention
The utility model will overcome the above-mentioned shortcoming of prior art, provides the five free mechanical arms that a kind of mechanism is simple, having stable behavior, transmission efficiency are high.
A kind of five free mechanical arms, comprise pedestal 2, base 3, postbrachium 4, forearm 7, wrist joint 8 and palm 9, pedestal 2 is arranged on base plate 1, base 3 is arranged on the base 2 rotationally, postbrachium 4 is on the base 3 hinged, on the hinged same pivot on the base 3 in one end of front shoulder joint 6 and one end of postbrachium 4, the other end and the forearm 7 of postbrachium 4 are hinged, the other end of front shoulder joint 6 and one end of forearm muscle 5 hinged, the other end of forearm muscle 5 and the rear end of forearm 7 hinged, described postbrachium 4, forearm 7, forearm muscle 5, front shoulder joint 6 form parallel-crank mechanism; Wrist joint 8 rear end is rotatably connected to the front end of forearm 7, and palm 9 is installed in rotation on the front end of wrist joint 8;
The first motor 21 for driving base 3 pedestal 2 is equipped with, overlapping the first cover plate 22, second cover plate 24, the 3rd cover plate 26 placed in vertical direction, second cover plate 24 is equipped with clutch shaft bearing 25, the second bearing 27 3rd cover plate 26 is equipped with, clutch shaft bearing 25, second bearing 27 is coaxially arranged with the hole of base 2 upper surface, forms the cavity volume of the cylinder insertion being suitable for base 3 lower end; The base internal gear of the cylinder bottom described in the first motor 21 output shaft is connected by gear; Some groups of circular arc clamp inner rings 292 are uniform around the center of circle in the hole of pedestal 2 upper surface with circular arc clamp outer ring 291, form the circular groove of the base clamp plate 32 of the annular on accommodating base 3, described some groups of circular arc clamp inner rings 292 are equipped with solenoid with circular arc clamp outer ring 291, and the group circular arc clamp inner ring 292 described in driving clamps with circular arc clamp outer ring 291 or unclamps base clamp plate 32; The primary importance sensor 23 for detecting base 3 rotational angle pedestal 2 is equipped with;
Described base 3 is equipped with for drive the second motor 35 of postbrachium 4, for detect postbrachium 4 rotational angle the 3rd position sensor 36, for driving the 3rd motor 33 of front shoulder joint 6, for detecting the second place sensor 34 of front shoulder joint 6;
Front shoulder joint 6 comprises between the first flat board 61, second flat board 63, first flat board 61, second flat board 63 of being parallel to each other and connects middle spacer 62, and the turning cylinder of the first flat board 61 connects the output shaft of the 3rd motor 33, and forearm muscle 5 is hinged with the second flat board 63.
Further, the 4th motor 71 be contained on forearm 7 drives described wrist joint 8; The output shaft being contained in the 5th motor 81 on wrist joint 8 connects the turning cylinder of bevel gear A, bevel gear B1, internal gear C1 rotating shaft R1 be equipped with, bevel gear B1 engages with bevel gear A, bevel gear B2, external gear C2 rotating shaft R2 be equipped with, bevel gear B2 engages with bevel gear A, one end of rotating shaft R1 is connected with wrist joint sidewall by bearing, and one end of rotating shaft R2 is connected by another sidewall of bearing and wrist joint, and now the rotation direction of rotating shaft R1 and rotating shaft R2 is contrary; Internal gear C1 engages with external gear D1, and external gear C2 engages with external gear D2, and external gear D1 and D2 is arranged in rotating shaft 3, and drives the rotation that the rotating shaft R3 of palm 9 is housed.
The utility model is the free mechanical arm of motor-driven five, adopts position sensor technology and movement control technology, improves stability and the positioning precision of system, and mechanical arm tail end can install different mechanisms according to purposes difference, realizes corresponding function.Compare other designs, the design compact mechanical structure in this patent, institute take up space little, easy to operate and have controllability.
Design feature of the present utility model is:
1) base is realized and motor rotating in same direction by dress two groups of rolling bearings on the cover board, when mechanical arm center of gravity is away from pedestal, can ensures the perpendicularity requirement of base, and can bear larger heavy burden;
2) for avoiding the adverse effect brought to Electric Machine Control because rotary inertia is excessive, introducing mechanical stop limiter and buffer device, preventing strong mechanical collision;
3) installation site sensor, can detect the rotational angle of base, postbrachium etc. in real time, and feed back to motion control card, is convenient to realize controlling comparatively accurately;
4) consider that postbrachium turning cylinder is that two ends suspension type drives, adopt middle support column, for support rotating axle, make it be in the state concentric with motor rotation axis all the time;
5) adopt parallel-crank mechanism to control the rotation of forearm, avoid directly on forearm, filling motor, the weight suspension of mechanical arm can be alleviated;
6) adopt gear train structure between wrist and palm, realize palm by bevel gear and spur gear and to rotate the rotation of moving axis;
7) palm portion makes dismountable structure, facilitates the installation and removal of end structure;
8) mechanical arm adopts symmetrical formula structure when designing, control motor as postbrachium and forearm adopts symmetrical distributed, between wrist joint and palm gear train to adopt symmetrical expression distribution, so designs the inferior position avoiding base when rotating because upper limbs centre-of gravity shift is brought to motion control.
The utility model has the advantages that: self weight suspension is light, stable action, control are accurately.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present utility model
Fig. 2 is control block diagram of the present utility model
Fig. 3 is the sectional view of pedestal 2
Fig. 4 a is the schematic diagram of base 3
Fig. 4 b is the schematic diagram of another angle of base 3
The drive connection schematic diagram of Fig. 4 c base 3
Fig. 5 is the structural representation of pedestal
Fig. 6 is the driving mechanism schematic diagram of forearm postbrachium
Fig. 7 is the schematic diagram of the driving mechanism of palm 9
Fig. 8 is the structural representation of front shoulder joint 6
Detailed description of the invention
The utility model is further illustrated below in conjunction with accompanying drawing.
A kind of five free mechanical arms, comprise pedestal 2, base 3, postbrachium 4, forearm 7, wrist joint 8 and palm 9, pedestal 2 is arranged on base plate 1, base 3 is arranged on the base 2 rotationally, postbrachium 4 is on the base 3 hinged, on the hinged same pivot on the base 3 in one end of front shoulder joint 6 and one end of postbrachium 4, the other end and the forearm 7 of postbrachium 4 are hinged, the other end of front shoulder joint 6 and one end of forearm muscle 5 hinged, the other end of forearm muscle 5 and the rear end of forearm 7 hinged, described postbrachium 4, forearm 7, forearm muscle 5, front shoulder joint 6 form parallel-crank mechanism; Wrist joint 8 rear end is rotatably connected to the front end of forearm 7, and palm 9 is installed in rotation on the front end of wrist joint 8;
The first motor 21 for driving base 3 pedestal 2 is equipped with, overlapping the first cover plate 22, second cover plate 24, the 3rd cover plate 26 placed in vertical direction, second cover plate 24 is equipped with clutch shaft bearing 25, the second bearing 27 3rd cover plate 26 is equipped with, clutch shaft bearing 25, second bearing 27 is coaxially arranged with the hole of base 2 upper surface, forms the cavity volume of the cylinder insertion being suitable for base 3 lower end; The base internal gear of the cylinder bottom described in the first motor 21 output shaft is connected by gear; Some groups of circular arc clamp inner rings 292 are uniform around the center of circle in the hole of the upper surface of base shell 28 with circular arc clamp outer ring 291, form the circular groove of the base clamp plate 32 of the annular on accommodating base 3, described some groups of circular arc clamp inner rings 292 are equipped with solenoid with circular arc clamp outer ring 291, and the some groups of circular arc clamp inner rings 292 described in driving clamp with circular arc clamp outer ring 291 or unclamp base clamp plate 32; The primary importance sensor 23 for detecting base 3 rotational angle pedestal 2 is equipped with;
Described base 3 is equipped with for drive the second motor 35 of postbrachium 4, for detect postbrachium 4 rotational angle the 3rd position sensor 36, for driving the 3rd motor 33 of front shoulder joint 6, for detecting the second place sensor 34 of front shoulder joint 6; The turning cylinder 38 of postbrachium 4 is located along the same line with the turning cylinder 39 of front shoulder joint 6.The rotating shaft 351 of the second motor 35 and the rotating shaft 331 of the 3rd motor 33 are located along the same line.
Front shoulder joint 6 comprises between the first flat board 61, second flat board 62, first flat board 61, second flat board 62 of being parallel to each other and connects middle spacer 62, and the turning cylinder of the first flat board 61 connects the output shaft of the 3rd motor 33, and forearm muscle 5 is hinged with the second flat board 63.The turning cylinder of the first flat board 61 comprises motor side 611 and rotary shaft end 612.
Further, the 4th motor 71 be contained on forearm 7 drives described wrist joint 8; The output shaft being contained in the 5th motor 81 on wrist joint 8 connects the turning cylinder of bevel gear A, bevel gear B1, internal gear C1 rotating shaft R1 be equipped with, bevel gear B1 engages with bevel gear A, bevel gear B2, external gear C2 rotating shaft R2 be equipped with, bevel gear B2 engages with bevel gear A, one end of rotating shaft R1 is connected with wrist joint sidewall by bearing, and one end of rotating shaft R2 is connected by another sidewall of bearing and wrist joint, and now the rotation direction of rotating shaft R1 and rotating shaft R2 is contrary; Internal gear C1 engages with external gear D1, and external gear C2 engages with external gear D2, and external gear D1 and D2 is arranged in rotating shaft 3, and drives the rotation that the rotating shaft R3 of palm 9 is housed.
The control system of mechanical arm mainly comprises industrial computer, motion control card, driver, motor and position sensor etc.
Base plate 1 there is installing hole, can fix with other mobile platforms; Pedestal 2 is two pieces of gripper shoes, is fixed on base plate 1; The inner ring of the bearing in base 3 lower end cylinder outer perimeter section and cover plate 2 and cover plate 3 clamps, cylindrical inner round portion is equipped with internal gear, internal gear is meshed with the external gear be contained on the first motor 21 output shaft, therefore base 1 can rotate under the control of the first motor 21, and the rotational angle of base 1 is detected by primary importance sensor 23; On the downside of base 3, base shell is housed, in order to dust-proof; Postbrachium 4 fills on the base 3, and controlled to rotate by the second motor 35, rotational angle is detected by the 3rd position sensor 36; Forearm 7 is contained on postbrachium 4, and controlled to rotate by the parallelogram be made up of postbrachium 4, front shoulder joint 6 and forearm muscle 5 by the 3rd motor 34, forearm 7 rotational angle detects front shoulder joint 6 by second place sensor 34 and obtains; Wrist joint 8 is contained on forearm 7, is controlled to rotate by the 4th motor 71; Palm 9 is contained on wrist joint 8, is controlled by gear train by the 5th motor 81, and the wrist joint output shaft that palm 9 is connected with gear train is fixed, and plays rotation with one; Corresponding mechanism can be installed according to purposes by palm place, as the head that sprays paint, handle of a knife, drill bit, paints pen etc.The output angle of motor by encoder feedback to motion control card.
Circular arc clamp is made up of circular arc clamp inner ring 292 and circular arc clamp outer ring 291 two parts, in figure, 3 groups of circular arc clamps are circularly and evenly distributed in 5, under Internal and external cycle fixes slide block 293 at inner ring respectively, outer ring fixes the effect of slide block 294, can only move radially along circular arc, and axially cannot rotate.All being provided with solenoid in circular arc clamp Internal and external cycle, is move toward one another or counter motion by solenoid controlled Internal and external cycle during work.Circular arc clamp contacts with base circular arc clamp plate, plays braking action.
When motion starts, end orbit instruction is issued by industrial computer, motion control card separates calculating according to given end orbit is counter, obtain the rotational angle at each driving joint place, and then generate the control instruction of motor and be issued to driver drives electric machine rotation, make end walk out the actual path approached mutually with given trace.The rotational angle of motor by encoder feedback to motion control card, the turn signal of base, postbrachium etc. by position sensor feedback to motion control card, motion control card carries out power compensation according to feedback information, suppresses the vibration at each driving joint place, completes ideal movement locus.
The course of work of mechanical arm
To spray paint, also fixing at palm place mounting spray head.According to given space track to be painted, tried to achieve the rotational angle of each driving joint by the anti-solution of motion control card, and rotational angle signal is handed down to driver; Turn signal is converted to motor message (as pulse, moment etc.) to motor by driver, is driven the rotation of corresponding mechanism by motor.The rotation of motor 1 drives base rotation, realizes moving integrally of mechanical arm; The rotation of motor 2 drives the swing of postbrachium; The quadrangular mechanism that rotates through of motor 3 drives front arm swing; The rotation of motor 4 drives carpal rotation; The rotating band of motor 5 starts the rotation of slapping, and then realizes the rotation of end sprayer.
Motor exports angle and driving mechanism rotational angle respectively by encoder and position sensor feedback to motion control card, and motion control card is controlled mechanism comparatively accurately by corresponding algorithm realization.
Content described in this description embodiment is only enumerating the way of realization that utility model is conceived; protection domain of the present utility model should not be regarded as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model also and conceive the equivalent technologies means that can expect according to the utility model in those skilled in the art.

Claims (2)

1. a free mechanical arm, comprise pedestal (2), base (3), postbrachium (4), forearm (7), wrist joint (8) and palm (9), it is characterized in that: pedestal (2) is arranged on base plate (1), base (3) is arranged on pedestal (2) rotationally, postbrachium (4) is hinged on base (3), one end of front shoulder joint (6) and one end of postbrachium (4) are hinged on same pivot on base (3), the other end and the forearm (7) of postbrachium (4) are hinged, the other end of front shoulder joint (6) and one end of forearm muscle (5) hinged, the other end of forearm muscle (5) and the rear end of forearm (7) hinged, described postbrachium (4), forearm (7), forearm muscle (5), front shoulder joint (6) composition parallel-crank mechanism, wrist joint (8) rear end is rotatably connected to the front end of forearm (7), and palm (9) is installed in rotation on the front end of wrist joint (8),
The first motor (21) for driving base (3) pedestal (2) is equipped with, overlapping the first cover plate (22), the second cover plate (24), the 3rd cover plate (26) placed in vertical direction, clutch shaft bearing (25) second cover plate (24) is equipped with, 3rd cover plate (26) is equipped with the second bearing (27), clutch shaft bearing (25), the second bearing (27) are coaxially arranged with the hole of pedestal (2) upper surface, form the cavity volume of the cylinder insertion being suitable for base (3) lower end; The base internal gear of the cylinder bottom described in the first motor (21) output shaft is connected by gear; Some groups of circular arc clamp inner rings (292) are uniform around the center of circle in the hole of pedestal (2) upper surface with circular arc clamp outer ring (291), form the circular groove of the base clamp plate (32) of the annular on accommodating base (3), solenoid is equipped with in some groups of described circular arc clamp inner rings (292) and circular arc clamp outer ring (291), and the group circular arc clamp inner ring (292) described in driving and circular arc clamp outer ring (291) clamp or unclamp base clamp plate (32); The primary importance sensor (23) for detecting base 3 rotational angle pedestal (2) is equipped with;
Described base (3) is equipped with for drive second motor (35) of postbrachium (4), for detect postbrachium (4) rotational angle the 3rd position sensor (36), for driving the 3rd motor (33) of front shoulder joint (6), for detecting the second place sensor (34) of front shoulder joint (6);
Front shoulder joint (6) comprises the first flat board (61), the second flat board (63) that are parallel to each other, middle spacer (62) is connected between first flat board (61), the second flat board (63), the turning cylinder of the first flat board (61) connects the output shaft of the 3rd motor (33), and forearm muscle (5) is hinged with the second flat board (63).
2. a kind of five free mechanical arms as claimed in claim 1, is characterized in that: the wrist joint (8) described in the 4th motor (71) be contained on forearm 7 drives; The output shaft being contained in the 5th motor (81) on wrist joint (8) connects the turning cylinder of bevel gear A, bevel gear B1, internal gear C1 rotating shaft R1 be equipped with, bevel gear B1 engages with bevel gear A, bevel gear B2, external gear C2 rotating shaft R2 be equipped with, bevel gear B2 engages with bevel gear A, one end of rotating shaft R1 is connected with wrist joint sidewall by bearing, and one end of rotating shaft R2 is connected by another sidewall of bearing and wrist joint, and now the rotation direction of rotating shaft R1 and rotating shaft R2 is contrary; Internal gear C1 engages with external gear D1, and external gear C2 engages with external gear D2, and external gear D1 and D2 is arranged on rotating shaft R3, and drives the rotation that the rotating shaft R3 of palm (9) is housed.
CN201520079546.0U 2015-02-04 2015-02-04 A kind of five free mechanical arms CN204525465U (en)

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647371A (en) * 2015-02-04 2015-05-27 浙江理工大学 Five-degree-of-freedom mechanical arm
CN105057631A (en) * 2015-08-11 2015-11-18 华南理工大学 Aluminum alloy pressure casting mechanical arm with gradient net-shaped structure and manufacturing method of aluminum alloy pressure casting mechanical arm
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN106530924A (en) * 2016-10-26 2017-03-22 天津工业大学 Five-dimension force feedback touch apparatus with gravity compensation function
CN108000496A (en) * 2017-12-27 2018-05-08 华南智能机器人创新研究院 A kind of wu-zhi-shan pig
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band
CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108098749A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of long high speed three-axis robot of adjustable arm
CN108161900A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm and robot
CN108161973A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band
CN108177152A (en) * 2017-12-27 2018-06-19 华南智能机器人创新研究院 A kind of high speed robot for positioning spray painting
CN108176544A (en) * 2018-03-19 2018-06-19 华南智能机器人创新研究院 A kind of plane line tracking robot
CN108421668A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of adjustable robotic arm apparatus in working region
CN108421667A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of paint sprayer with pressurize spraying function
CN108435448A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of automatically controlled end can turn to horn
CN108435469A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of full-automatic paint spraying apparatus
CN108435447A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of multi-direction apparatus for work

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647371B (en) * 2015-02-04 2016-04-13 浙江理工大学 A kind of five degree-of-freedom manipulator
CN104647371A (en) * 2015-02-04 2015-05-27 浙江理工大学 Five-degree-of-freedom mechanical arm
CN105057631A (en) * 2015-08-11 2015-11-18 华南理工大学 Aluminum alloy pressure casting mechanical arm with gradient net-shaped structure and manufacturing method of aluminum alloy pressure casting mechanical arm
CN105459095B (en) * 2016-01-26 2019-03-15 安徽理工大学 Three-freedom-degree hybrid formula Omni-mobile transfer robot
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN106530924A (en) * 2016-10-26 2017-03-22 天津工业大学 Five-dimension force feedback touch apparatus with gravity compensation function
CN108000496A (en) * 2017-12-27 2018-05-08 华南智能机器人创新研究院 A kind of wu-zhi-shan pig
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band
CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108098749A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of long high speed three-axis robot of adjustable arm
CN108161900A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm and robot
CN108177152A (en) * 2017-12-27 2018-06-19 华南智能机器人创新研究院 A kind of high speed robot for positioning spray painting
CN108161973A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band
CN108421668A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of adjustable robotic arm apparatus in working region
CN108421667A (en) * 2018-03-19 2018-08-21 华南智能机器人创新研究院 A kind of paint sprayer with pressurize spraying function
CN108435448A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of automatically controlled end can turn to horn
CN108435469A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of full-automatic paint spraying apparatus
CN108435447A (en) * 2018-03-19 2018-08-24 华南智能机器人创新研究院 A kind of multi-direction apparatus for work
CN108176544A (en) * 2018-03-19 2018-06-19 华南智能机器人创新研究院 A kind of plane line tracking robot
CN108435469B (en) * 2018-03-19 2020-07-03 华南智能机器人创新研究院 Full-automatic paint spraying equipment

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