CN204673604U - Multi-joint manipulator - Google Patents
Multi-joint manipulator Download PDFInfo
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- CN204673604U CN204673604U CN201520087230.6U CN201520087230U CN204673604U CN 204673604 U CN204673604 U CN 204673604U CN 201520087230 U CN201520087230 U CN 201520087230U CN 204673604 U CN204673604 U CN 204673604U
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- arm body
- belt pulley
- pedestal
- arm
- length direction
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Abstract
The utility model discloses a kind of multi-joint manipulator, comprise fixing stand and be movably connected on the mechanical arm assembly in fixing stand, this mechanical arm assembly comprises and is all the first horizontally disposed arm body, the second arm body and the 3rd arm body, first arm body is vertically installed in fixing stand slidably by a lift drive mechanism, and the first arm body can also swing around axis of oscillation, horizontal center line when this axis of oscillation and the first arm body are in zero-bit coincides; Second arm body is connected on the first arm body, and can swing under the drive of the first arm body; 3rd arm body is connected on the second arm body, and track of can taking exercises under the drive of the second arm body is the rectilinear motion perpendicular to this axis of oscillation, the 3rd arm body is also connected with a ring flange installed for sucker or jaw; This multi-joint manipulator is applicable to the situation of linear pattern production-line arrangement, simple to operate, easily control, and is beneficial to production.
Description
Technical field
The utility model relates to puma manipulator technical field, specifically provides a kind of multi-joint manipulator.
Background technology
Manipulator, refers to some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator mostly is articulated structure, namely includes multiple mechanical arm, and is flexibly connected between adjacent two mechanical arms, can realize the walking of manipulator between multiple station; But in existing robot manipulator structure, the motion of each mechanical arm is all by configuring separately a set of power-equipment to realize, and on the one hand, this structure not only increases the complexity of robot manipulator structure, also add production cost; On the other hand, this robot manipulator structure control action is more loaded down with trivial details, requires higher, add production difficulty to operating personnel.
Summary of the invention
In order to overcome above-mentioned defect, the utility model provides a kind of multi-joint manipulator, and this multi-joint manipulator is rational in infrastructure, simple to operate, safety, precision are high.
The utility model in order to the technical scheme solving its technical problem and adopt is: a kind of multi-joint manipulator, comprise fixing stand, and the mechanical arm assembly be movably connected in described fixing stand, this mechanical arm assembly comprises and is all the first horizontally disposed arm body, second arm body and the 3rd arm body, wherein, described first arm body is vertically installed in described fixing stand by a lift drive mechanism slidably, and described first arm body can also swing around axis of oscillation, horizontal center line when this axis of oscillation and described first arm body are in zero-bit coincides, described second arm body is connected on described first arm body, and can swing under the drive of described first arm body, described 3rd arm body is connected on described second arm body, and track of can taking exercises under the drive of described second arm body is the rectilinear motion perpendicular to this axis of oscillation, described 3rd arm body is also connected with a ring flange installed for sucker or jaw.
As further improvement of the utility model, the shape of described first arm body, the second arm body and the 3rd arm body is consistent, and being all cross section is pancake strip structure;
Be in zero-bit state for benchmark with described first arm body, described first arm body, the second arm body and the 3rd arm body are arranged successively from top to bottom and are parallel to each other, and the center line in described first arm body, the second arm body and the 3rd arm body length direction also coincides; The center line of the length direction this axis of oscillation another is also in zero-bit during with described first arm body coincides.
As further improvement of the utility model, the structure that described first arm body is vertically installed in described fixing stand slidably by described lift drive mechanism is: described lift drive mechanism includes fixed pedestal, slide rail, first motor, lead screw assembly, first belt pulley set and the first synchronous belt, wherein, the side of described fixed pedestal is located by connecting on the top of described fixing stand, on the opposite side of described fixed pedestal described fixing stand dorsad, location is equipped with the described slide rail vertically extended, described first motor, lead screw assembly, first belt pulley set and the first synchronous belt are all located and are built in described fixed pedestal, described lead screw assembly comprises leading screw and is slidedly arranged on the transmission nut on described leading screw, described first belt pulley set is made up of a pair first belt pulleys, this to the first belt pulley respectively fixed cover be located on the output shaft of described first motor and an axle head of described leading screw, and this is also connected by described first synchronous belt drive the first belt pulley, separately be provided with a connecting seat, the side activity in described first arm body length direction is undertaken on described Connection Block, and described Connection Block is also slidably connected on described slide rail, and described Connection Block is also located by connecting with described transmission nut simultaneously,
The structure that described first arm body can also carry out swinging around axis of oscillation is: be also provided with a power-driven mechanism, described power-driven mechanism comprises the second motor and reductor, described second motor and reductor are all located and are built in described Connection Block, and the output of the input of described reductor and described second motor is located by connecting, the output of described reductor and the side in described first arm body length direction are located by connecting.
As further improvement of the utility model, described Connection Block comprises the first pedestal and the second pedestal arranged successively from top to bottom, the side of described first pedestal is slidably connected on described slide rail, and the side of described first pedestal is also located by connecting with described transmission nut simultaneously; Described second pedestal has one in order to the accommodating cavity of accommodating described power-driven mechanism, and the upside of described second pedestal and described first pedestal are located by connecting, the downside of described second pedestal is suspended in the top of described first arm body.
As further improvement of the utility model, described second arm body is connected on described first arm body, and the structure that can carry out swinging under the drive of described first arm body is: the side in described second arm body length direction is connected on the opposite side in described first arm body length direction by clutch shaft bearing; Separately described first arm body also has a cavity extended along its length, and also in the cavity of described first arm body, be provided with one first transmission mechanism, described first transmission mechanism comprises the second belt pulley and the 3rd belt pulley, the relatively described first arm body position of described second belt pulley is fixed, and described second belt pulley is also located by connecting by the output of one first connecting axle and described reductor simultaneously, described 3rd belt pulley positioning sleeve is located on the inner ring of described clutch shaft bearing, and described 3rd belt pulley is also connected by belt with the second belt pulley.
As further improvement of the utility model, described 3rd arm body is connected on described second arm body, and the structure can taken exercises under the drive of described second arm body is: the side in described 3rd arm body length direction is connected on the opposite side in described second arm body length direction by the second bearing, separately described second arm body also has a cavity extended along its length, and one second transmission mechanism is provided with in the cavity of described second arm body, described second transmission mechanism comprises the second connecting axle, 4th belt pulley and the 5th belt pulley, wherein, one axle head of described second connecting axle is rotationally connected with on the side in described second arm body length direction, another axle head of described second connecting axle is fed through described first arm body, and be located by connecting with the opposite side in described first arm body length direction, described 4th belt pulley positioning sleeve is located on described second connecting axle, described 5th belt pulley positioning sleeve is located on the inner ring of described second bearing, and described 5th belt pulley is also connected by belt with the 4th belt pulley,
Separately the movement locus of described 3rd arm body is be perpendicular to the structure of the rectilinear motion of this axis of oscillation: the brachium of described first arm body is equal with the brachium of described second arm body, and the radius of described second belt pulley is the twice of the radius of described 3rd belt pulley, the radius of described 5th belt pulley is the twice of the radius of described 4th belt pulley.
As further improvement of the utility model, the structure that the relatively described first arm body position of described second belt pulley is fixed is: be also provided with U-shaped connector and a connecting bolt, side and the described reductor of described U-shaped connector are located by connecting, the opposite side of described U-shaped connector is positioned at the below of described first arm body, described connecting bolt is fed through the opposite side of described U-shaped connector and described first arm body successively, and locks and connects with described second belt pulley.
The beneficial effects of the utility model are: this multi-joint manipulator has and is all the first horizontally disposed arm body, the second arm body and the 3rd arm body, wherein, described first arm body is vertically installed in described fixing stand by a lift drive mechanism slidably, and described first arm body can also swing around axis of oscillation, described second arm body is connected on described first arm body, and can swing under the drive of described first arm body; Described 3rd arm body is connected on described second arm body, and track of can taking exercises under the drive of described second arm body is the rectilinear motion perpendicular to this axis of oscillation, and described 3rd arm body is also connected with a ring flange installed for sucker or jaw; Compared to prior art, this multi-joint manipulator has the following advantages: the mode 1. being driven the second arm body motion, the second arm body drive the 3rd arm body motion by employing first arm body, is decreased extra power Equipments Setting, reduce production cost; 2. by the brachium of first and second arm body and the conservative control to pulley speed each in first and second transmission mechanism, the movement locus of the 3rd arm body (ring flange) is made to remain point-blank; This multi-joint manipulator is applicable to the situation of linear pattern production-line arrangement, simple to operate, easily control, and is beneficial to production.
Accompanying drawing explanation
Fig. 1 is the structural representation view of multi-joint manipulator described in the utility model when being in zero-bit state;
Fig. 2 is the front view of multi-joint manipulator described in the utility model when being in zero-bit state;
Fig. 3 is the top view of multi-joint manipulator described in the utility model when being in zero-bit state;
Fig. 4 is the side view of multi-joint manipulator described in the utility model when being in zero-bit state;
Fig. 5 is the part section structural representation of multi-joint manipulator described in the utility model when being in zero-bit state;
Fig. 6 be multi-joint manipulator described in the utility model in running order time structural representation view;
Fig. 7 be multi-joint manipulator described in the utility model in running order time front view;
Fig. 8 be multi-joint manipulator described in the utility model in running order time top view;
Fig. 9 be multi-joint manipulator described in the utility model in running order time motion principle schematic diagram.
By reference to the accompanying drawings, make the following instructions:
1---first arm body 2---second arm body
3---the 3rd arm body 4---lift drive mechanism
40---fixed pedestal 41---slide rail
42---first motor 43---leading screw
44---transmission nut 45---first belt pulley
46---first synchronous belts 5---fix stand
6---ring flange 7---Connection Block
71---first pedestal 72---second pedestal
8---power-driven mechanism 80---second motor
81---reductor 92---second belt pulley
93---the 3rd belt pulley 94---the 4th belt pulley
95---the 5th belt pulley 10---U-shaped connector
Detailed description of the invention
Referring to figure, preferred embodiment of the present utility model is described in detail.
A kind of multi-joint manipulator described in the utility model, the mechanical arm assembly comprising fixing stand 5 and be movably connected in described fixing stand, this mechanical arm assembly comprises and is all the first horizontally disposed arm body 1, second arm body 2 and the 3rd arm body 3, wherein, described first arm body 1 is vertically installed in described fixing stand 5 by a lift drive mechanism 4 slidably, and described first arm body can also swing around axis of oscillation A, horizontal center line when this axis of oscillation A and described first arm body are in zero-bit coincides; Described second arm body 2 is connected on described first arm body 1, and can swing under the drive of described first arm body; Described 3rd arm body 3 is connected on described second arm body 2, and track of can taking exercises under the drive of described second arm body is the rectilinear motion perpendicular to this axis of oscillation A, described 3rd arm body 3 is also connected with a ring flange 6 installed for sucker or jaw.
In the present embodiment, the shape of described first arm body 1, second arm body 2 and the 3rd arm body 3 is consistent, and being all cross section is pancake strip structure;
Be in zero-bit state for benchmark with described first arm body, described first arm body, the second arm body and the 3rd arm body are arranged successively from top to bottom and are parallel to each other, and the center line in described first arm body, the second arm body and the 3rd arm body length direction also coincides; The center line of the length direction another this axis of oscillation A is also in zero-bit during with described first arm body 1 coincides.
In the present embodiment, described first arm body 1 by described lift drive mechanism 4 vertically the structure be installed on slidably in described fixing stand 5 be: described lift drive mechanism 4 includes fixed pedestal 40, slide rail 41, first motor 42, lead screw assembly, first belt pulley set and the first synchronous belt, wherein, the side of described fixed pedestal 40 is located by connecting on the top of described fixing stand 5, on the opposite side of described fixed pedestal 40 described fixing stand dorsad, location is equipped with the described slide rail 41 vertically extended, described first motor 42, lead screw assembly, first belt pulley set and the first synchronous belt are all located and are built in described fixed pedestal 40, the transmission nut 44 that described lead screw assembly comprises leading screw 43 and is slidedly arranged on described leading screw, described first belt pulley set is made up of a pair first belt pulleys 45, this to the first belt pulley respectively fixed cover be located on the output shaft of described first motor and an axle head of described leading screw, and this is also in transmission connection by described first synchronous belt 46 to the first belt pulley, separately be provided with a connecting seat 7, the side activity of described first arm body 1 length direction is undertaken on described Connection Block, and described Connection Block is also slidably connected on described slide rail 41, and described Connection Block is also located by connecting with described transmission nut 44 simultaneously,
The structure that described first arm body can also carry out swinging around axis of oscillation A is: be also provided with a power-driven mechanism 8, described power-driven mechanism comprises the second motor 80 and reductor 81, described second motor and reductor are all located and are built in described Connection Block 7, and the output of the input of described reductor and described second motor is located by connecting, the output of described reductor and the side of described first arm body 1 length direction are located by connecting.
Preferably, described Connection Block 7 comprises the first pedestal 71 and the second pedestal 72 arranged successively from top to bottom, and the side of described first pedestal 71 is slidably connected on described slide rail 41, and the side of described first pedestal is also located by connecting with described transmission nut 44 simultaneously; Described second pedestal 72 has one in order to the accommodating cavity of accommodating described power-driven mechanism 8, and the upside of described second pedestal and described first pedestal 71 are located by connecting, the downside of described second pedestal is suspended in the top of described first arm body 1.
In the present embodiment, described second arm body 2 is connected on described first arm body 1, and the structure that can carry out swinging under the drive of described first arm body is: the side of described second arm body 2 length direction is connected on the opposite side of described first arm body 1 length direction by clutch shaft bearing, separately described first arm body 1 also has a cavity extended along its length, and also in the cavity of described first arm body, be provided with one first transmission mechanism, described first transmission mechanism comprises the second belt pulley 92 and the 3rd belt pulley 93, the relatively described first arm body position of described second belt pulley 92 is fixed, and described second belt pulley 92 is also located by connecting by the output of one first connecting axle and described reductor 81 simultaneously, described 3rd belt pulley 93 positioning sleeve is located on the inner ring of described clutch shaft bearing, and described 3rd belt pulley is also connected by belt with the second belt pulley.
Described 3rd arm body 3 is connected on described second arm body 2, and the structure can taken exercises under the drive of described second arm body is: the side of described 3rd arm body 3 length direction is connected on the opposite side of described second arm body 2 length direction by the second bearing, separately described second arm body 1 also has a cavity extended along its length, and one second transmission mechanism is provided with in the cavity of described second arm body, described second transmission mechanism comprises the second connecting axle, 4th belt pulley 94 and the 5th belt pulley 95, wherein, one axle head of described second connecting axle is rotationally connected with on the side in described second arm body length direction, another axle head of described second connecting axle is fed through described first arm body 1, and be located by connecting with the opposite side in described first arm body length direction, described 4th belt pulley 94 positioning sleeve is located on described second connecting axle, described 5th belt pulley 95 positioning sleeve is located at (side in the 3rd arm body length direction is also that positioning sleeve is located on the inner ring of described second bearing) on the inner ring of described second bearing, and described 5th belt pulley is also connected by belt with the 4th belt pulley,
Separately the movement locus of described 3rd arm body 3 is be perpendicular to the structure of the rectilinear motion of this axis of oscillation A: the brachium of described first arm body is equal with the brachium of described second arm body, and the radius of described second belt pulley is the twice of the radius of described 3rd belt pulley, the radius of described 5th belt pulley is the twice of the radius of described 4th belt pulley.
Preferably, the structure that the relatively described first arm body position of described second belt pulley 92 is fixed is: be also provided with U-shaped connector 10 and a connecting bolt, side and the described reductor of described U-shaped connector are located by connecting, the opposite side of described U-shaped connector is positioned at the below of described first arm body, described connecting bolt is fed through the opposite side of described U-shaped connector and described first arm body successively, and locks and connects with described second belt pulley.
Operation principle of the present utility model is: first, drives this mechanical arm assembly to move up and down, realize the Height Adjustment between mechanical arm assembly and station by described lift drive mechanism 4, then, described power-driven mechanism 8 can drive described first arm body 1 to swing around axis of oscillation A, and described first arm body 1 can drive described second arm body 2 to swing by the first transmission mechanism, described second arm body 2 can drive the 3rd arm body 3 to move by the second transmission mechanism, because in the utility model, the brachium of described first arm body is equal with the brachium of described second arm body, and the radius of the second belt pulley is the twice of the radius of the 3rd belt pulley in described first transmission mechanism, in described second transmission mechanism, the radius of the 5th belt pulley is the twice of the radius of the 4th belt pulley, like this when described first arm body opposing oscillatory axis A pendulum angle is α, described second arm body can relative first arm body pendulum angle be just 2* β (α=β), described 3rd arm body just can keep the direction of motion constant, forming a movement locus is rectilinear motion perpendicular to axis of oscillation A.Multi-joint manipulator described in the utility model is applicable to the situation of linear pattern production-line arrangement, simple to operate, easily control.
Claims (7)
1. a multi-joint manipulator, comprise fixing stand (5), and the mechanical arm assembly be movably connected in described fixing stand, it is characterized in that: this mechanical arm assembly comprises and is all the first horizontally disposed arm body (1), second arm body (2) and the 3rd arm body (3), wherein, described first arm body (1) is vertically installed on described fixing stand (5) slidably by a lift drive mechanism (4), and described first arm body can also swing around axis of oscillation (A), horizontal center line when this axis of oscillation (A) and described first arm body are in zero-bit coincides, described second arm body (2) is connected on described first arm body (1), and can swing under the drive of described first arm body, described 3rd arm body (3) is connected on described second arm body (2), and track of can taking exercises under the drive of described second arm body is for the rectilinear motion perpendicular to this axis of oscillation (A), described 3rd arm body (3) is also connected with a ring flange (6) installed for sucker or jaw.
2. multi-joint manipulator according to claim 1, is characterized in that: the shape of described first arm body (1), the second arm body (2) and the 3rd arm body (3) is consistent, and being all cross section is pancake strip structure;
Be in zero-bit state for benchmark with described first arm body, described first arm body, the second arm body and the 3rd arm body are arranged successively from top to bottom and are parallel to each other, and the center line in described first arm body, the second arm body and the 3rd arm body length direction also coincides; The center line of the length direction another this axis of oscillation (A) is also in zero-bit during with described first arm body (1) coincides.
3. multi-joint manipulator according to claim 2, it is characterized in that: described first arm body (1) by described lift drive mechanism (4) vertically the structure be installed on slidably on described fixing stand (5) be: described lift drive mechanism (4) includes fixed pedestal (40), slide rail (41), first motor (42), lead screw assembly, first belt pulley set and the first synchronous belt, wherein, the side of described fixed pedestal (40) is located by connecting on the top of described fixing stand (5), on the opposite side of described fixed pedestal (40) described fixing stand dorsad, location is equipped with the described slide rail (41) vertically extended, described first motor (42), lead screw assembly, first belt pulley set and the first synchronous belt are all located and are built in described fixed pedestal (40), described lead screw assembly comprises leading screw (43) and is slidedly arranged on the transmission nut (44) on described leading screw, described first belt pulley set is made up of a pair first belt pulleys (45), this to the first belt pulley respectively fixed cover be located on the output shaft of described first motor and an axle head of described leading screw, and this is also in transmission connection by described first synchronous belt (46) to the first belt pulley, separately be provided with a connecting seat (7), the side activity of described first arm body (1) length direction is undertaken on described Connection Block, described Connection Block is also slidably connected on described slide rail (41), and described Connection Block is also located by connecting with described transmission nut (44) simultaneously,
The structure that described first arm body can also carry out swinging around axis of oscillation (A) is: be also provided with a power-driven mechanism (8), described power-driven mechanism comprises the second motor (80) and reductor (81), described second motor and reductor are all located and are built in described Connection Block (7), and the output of the input of described reductor and described second motor is located by connecting, the output of described reductor and the side of described first arm body (1) length direction are located by connecting.
4. multi-joint manipulator according to claim 3, it is characterized in that: described Connection Block (7) comprises the first pedestal (71) and the second pedestal (72) arranged successively from top to bottom, the side of described first pedestal (71) is slidably connected on described slide rail (41), and the side of described first pedestal is also located by connecting with described transmission nut (44) simultaneously; Described second pedestal (72) has one in order to the accommodating cavity of accommodating described power-driven mechanism (8), and the upside of described second pedestal and described first pedestal (71) are located by connecting, the downside of described second pedestal is suspended in the top of described first arm body (1).
5. multi-joint manipulator according to claim 3, it is characterized in that: described second arm body (2) is connected on described first arm body (1), and the structure that can carry out swinging under the drive of described first arm body is: the side of described second arm body (2) length direction is connected on the opposite side of described first arm body (1) length direction by clutch shaft bearing, separately described first arm body (1) also has a cavity extended along its length, and also in the cavity of described first arm body, be provided with one first transmission mechanism, described first transmission mechanism comprises the second belt pulley (92) and the 3rd belt pulley (93), the relatively described first arm body position of described second belt pulley (92) is fixed, and described second belt pulley (92) is also located by connecting by the output of one first connecting axle and described reductor (81) simultaneously, described 3rd belt pulley (93) positioning sleeve is located on the inner ring of described clutch shaft bearing, and described 3rd belt pulley is also connected by belt with the second belt pulley.
6. multi-joint manipulator according to claim 5, it is characterized in that: described 3rd arm body (3) is connected on described second arm body (2), and the structure can taken exercises under the drive of described second arm body is: the side of described 3rd arm body (3) length direction is connected on the opposite side of described second arm body (2) length direction by the second bearing, separately described second arm body (1) also has a cavity extended along its length, and one second transmission mechanism is provided with in the cavity of described second arm body, described second transmission mechanism comprises the second connecting axle, 4th belt pulley (94) and the 5th belt pulley (95), wherein, one axle head of described second connecting axle is rotationally connected with on the side in described second arm body length direction, another axle head of described second connecting axle is fed through described first arm body (1), and be located by connecting with the opposite side in described first arm body length direction, described 4th belt pulley (94) positioning sleeve is located on described second connecting axle, described 5th belt pulley (95) positioning sleeve is located on the inner ring of described second bearing, and described 5th belt pulley is also connected by belt with the 4th belt pulley,
Separately the movement locus of described 3rd arm body (3) is be perpendicular to the structure of the rectilinear motion of this axis of oscillation (A): the brachium of described first arm body is equal with the brachium of described second arm body, and the radius of described second belt pulley is the twice of the radius of described 3rd belt pulley, the radius of described 5th belt pulley is the twice of the radius of described 4th belt pulley.
7. multi-joint manipulator according to claim 5, it is characterized in that: the structure that the relatively described first arm body position of described second belt pulley (92) is fixed is: be also provided with U-shaped connector (10) and a connecting bolt, side and the described reductor of described U-shaped connector are located by connecting, the opposite side of described U-shaped connector is positioned at the below of described first arm body, described connecting bolt is fed through the opposite side of described U-shaped connector and described first arm body successively, and locks and connects with described second belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520087230.6U CN204673604U (en) | 2015-02-06 | 2015-02-06 | Multi-joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520087230.6U CN204673604U (en) | 2015-02-06 | 2015-02-06 | Multi-joint manipulator |
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| CN204673604U true CN204673604U (en) | 2015-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520087230.6U Withdrawn - After Issue CN204673604U (en) | 2015-02-06 | 2015-02-06 | Multi-joint manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN105522066A (en) * | 2015-12-24 | 2016-04-27 | 惠州市仨联自动化设备有限公司 | Suspension type deflection mechanical hand and stamping production line thereof |
| CN105818164A (en) * | 2016-05-25 | 2016-08-03 | 张家港市德昶自动化科技有限公司 | Foldable multi-joint manipulator |
| CN105904143A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Intelligent welding equipment |
| CN105983959A (en) * | 2015-02-06 | 2016-10-05 | 昆山威创精密机械有限公司 | Multi-joint manipulator |
| CN108581209A (en) * | 2018-05-11 | 2018-09-28 | 昆山彰盛奈米科技有限公司 | A kind of internal diameter processor |
| CN110394417A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring swaging operation machinery arm |
-
2015
- 2015-02-06 CN CN201520087230.6U patent/CN204673604U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983959A (en) * | 2015-02-06 | 2016-10-05 | 昆山威创精密机械有限公司 | Multi-joint manipulator |
| CN105983959B (en) * | 2015-02-06 | 2018-07-20 | 昆山威创自动化科技有限公司 | Multi-joint manipulator |
| CN105522066A (en) * | 2015-12-24 | 2016-04-27 | 惠州市仨联自动化设备有限公司 | Suspension type deflection mechanical hand and stamping production line thereof |
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN105479451B (en) * | 2015-12-29 | 2017-06-20 | 哈尔滨工业大学 | A kind of planar redundant robot |
| CN105818164A (en) * | 2016-05-25 | 2016-08-03 | 张家港市德昶自动化科技有限公司 | Foldable multi-joint manipulator |
| CN105904143A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Intelligent welding equipment |
| CN108581209A (en) * | 2018-05-11 | 2018-09-28 | 昆山彰盛奈米科技有限公司 | A kind of internal diameter processor |
| CN110394417A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring swaging operation machinery arm |
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Address after: 215337, No. 383, Wan An Road, Zhou Town, Kunshan, Jiangsu, Suzhou Patentee after: Kushan Wechum Automation Technology Co., Ltd. Address before: Suzhou City, Jiangsu province 215300 City Wanan town Kunshan City Zhou Road No. 383 Patentee before: Kunshan Wei Chum Precision Machinery Co., Ltd. |
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Granted publication date: 20150930 Effective date of abandoning: 20180720 |