CN204868855U - Multi freedom's desktop type robot system - Google Patents

Multi freedom's desktop type robot system Download PDF

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Publication number
CN204868855U
CN204868855U CN201520613719.2U CN201520613719U CN204868855U CN 204868855 U CN204868855 U CN 204868855U CN 201520613719 U CN201520613719 U CN 201520613719U CN 204868855 U CN204868855 U CN 204868855U
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CN
China
Prior art keywords
arm
motor
connection block
fixed
rod
Prior art date
Application number
CN201520613719.2U
Other languages
Chinese (zh)
Inventor
刘培超
Original Assignee
刘培超
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 刘培超 filed Critical 刘培超
Priority to CN201520613719.2U priority Critical patent/CN204868855U/en
Application granted granted Critical
Publication of CN204868855U publication Critical patent/CN204868855U/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The utility model provides a multi freedom's desktop type robot system, including end effector, be used for fixing a position end effector the arm, be used for the stage mechanism of fixed mechanical arm, its characterized in that: the arm include big arm mechanism, forearm mechanism, first connecting seat, second connecting seat, big arm mechanism one end is connected with the second connecting seat, and the second connecting seat is connected with first connecting seat, and the arm mechanism other end is connected with forearm mechanism greatly, and the connecting rod of the forearm mechanism other end is the omnipotent dead lever of L type, omnipotent dead lever include fixed part and connecting portion, connecting portion are used for connecting end effector, first connecting seat drive second connecting seat is rotatory, and second connecting seat big arm mechanism of drive and forearm mechanism rotate. The utility model relates to a simple structure, multi freedom, factor of safety is high, exchanges the multi freedom's desktop type robot system of operation controls.

Description

A kind of multivariant table-top machine robot system
Technical field
The utility model relates to a kind of robot system, especially a kind of multivariant table-top machine robot system.
Background technology
Mechanical arm, as the mechanical device of moving type actuating mechanism, was connected and composed by multiple joint, its complicated structure in the past, element precision and processing request higher, expensive.
Application number be 201310101177.6 patent document provide a kind of mechanical arm.It comprises the first Connection Block and the second Connection Block, and the first Connection Block is for being connected to its parent body by described mechanical arm, and the second Connection Block is for connecting the Lower Establishment of described mechanical arm; Described mechanical arm is also provided with the first motor, the second motor, and described first motor, the second motor are installed on the first Connection Block.The mechanical arm that this invention provides, is made up of 8 connecting rods, adopts simple linkwork can realize the assembling of mechanical arm, and structure is simple, cost is lower, and the program make use of parallelogram and lever principle, stable, reliable; Further, do not need complicated articulation structure, the space needed for itself moving is little, and as required, by adjusting the length of connecting rod.But the dispersion of the motor position of the program, is unfavorable for internal wiring, and, so connecting rod all outside exposed, if careless manipulation will crush event, extremely dangerous.
Summary of the invention
For the deficiencies in the prior art, the utility model provides a kind of structure simple, and multiple degrees of freedom, safety coefficient is high, the multivariant table-top machine robot system of easy operation control.
The technical solution of the utility model is: a kind of multivariant table-top machine robot system, comprise end effector, for the mechanical arm of located terminal end actuator, for the platform mechanism of fixing machine mechanical arm, it is characterized in that: described mechanical arm comprises large arm mechanism, little arm mechanism, first Connection Block, second Connection Block, described large arm mechanism one end is connected with the second Connection Block, second Connection Block is connected with the first Connection Block, the large arm mechanism other end is connected with little arm mechanism, the connecting rod of the little arm mechanism other end is the omnipotent fixed bar of L-type, described omnipotent fixed bar comprises fixed part and connecting portion, described connecting portion is for connecting end effector, first Connection Block drives the second Connection Block to rotate, and the second Connection Block drives large arm mechanism and little arm mechanism to rotate.
Described large arm mechanism and little arm mechanism are all made up of parallelogram linkage.
Described large arm mechanism and little arm mechanism outer link are made up of master connecting-rod and slave connecting rod, master connecting-rod and slave connecting rod be arranged in parallel, and connected by some screw rods, and the inner space that master connecting-rod and slave connecting rod are formed can hold other connecting rod, is provided with spacing hole around the hinge hole of master connecting-rod.
Be provided with bar-shaped trough in the middle of the connecting portion of described omnipotent fixed bar, the both sides, middle part of bar-shaped trough are symmetrical curved portions, and be provided with some fixing threaded holes near bar-shaped trough both ends, fixing threaded hole is with the use of meeting being fixedly connected with of different end effector; Connecting portion is parallel to bar-shaped trough and is provided with draw-in groove, and draw-in groove can be used for clamping end effector.
Second Connection Block comprises the bracing frame of rotating bottom board, the turning cylinder be connected with large arm mechanism, fixed bias circuit, bracing frame is provided with the first motor, the second motor, the 3rd motor, described first motor, the second motor are arranged on bracing frame both sides, first motor drives large arm mechanism to rotate, and the second motor drives little arm mechanism to rotate; The motor body of the 3rd motor is arranged on bracing frame inside, and motor shaft one end of the 3rd motor is fixed on the first Connection Block, and be also provided with the bearing being fixed on motor body end between the first Connection Block and the second Connection Block, bearing is positioned at below rotating bottom board.
The first described motor, the second motor, the 3rd motor are stepper motor or servomotor.
Described platform mechanism fixes mechanical arm by the first Connection Block, and described platform mechanism is the installation foundation that member of translational, rotary part or platform mechanism are inherently fixed.
Described end effector is double freedom jaw, and described jaw is rotated along axle by the servo driving cleft hand be fixed on above omnipotent holder, and jaw side is provided with steering wheel, and servo driving gear transmission structure realizes the catch and release function of cleft hand.
Described end effector is sucker, and described sucker is rotated along axle by the servo driving suction nozzle be fixed on above omnipotent holder, and the air pump be connected with suction nozzle is arranged on the second Connection Block, and suction nozzle side is provided with Compress Spring.
Described end effector is fixed block, and be provided with cylindrical hole in the middle of described fixed block, through hole side is provided with fixing threaded hole, clamps cylindrical objects by trip bolt with coordinating of fixing threaded hole.
The beneficial effects of the utility model are: the stepper motor or the servomotor that adopt integrated setting, can alleviate the weight of mechanical arm movable part, and effective noise reduction makes robot system more stable; The multiple end effector that the design of omnipotent holder can be mated, symmetrical structure is conducive to the stability of moving; The outer link of large arm mechanism and little arm mechanism is by major-minor bar linkage structure, and effectively can not only avoid tong and protection linkage, meanwhile, tower structure can greatly reduce vibration and the noise of operation.
Accompanying drawing explanation
Fig. 1 is multi-freedom robot main structure of system schematic diagram of the present utility model;
Fig. 2 is omnipotent fixed seat structure schematic diagram of the present utility model;
Fig. 3 is mechanical arm partial structurtes schematic diagram of the present utility model;
Fig. 4 is master connecting-rod and the slave connecting rod structural representation of large arm mechanism of the present utility model;
Fig. 5 is master connecting-rod and the slave connecting rod structural representation of little arm mechanism of the present utility model;
Fig. 6 is the structural representation that jaw of the present utility model is connected with omnipotent holder;
Fig. 7 is the structural representation that sucker of the present utility model is connected with omnipotent holder;
Fig. 8 is the structural representation that fixed block of the present utility model is connected with omnipotent holder;
In figure: 1-end effector, the large arm mechanism of 2-, the little arm mechanism of 3-, 4-first Connection Block, 5-second Connection Block, the omnipotent fixed bar of 6-, 7-fixed part, 8-connecting portion, 9-master connecting-rod, 10-slave connecting rod, 11-hinge hole, 12-spacing hole, 13-bar-shaped trough, 14-curved portions, 15-fixing threaded hole, 16-rotating bottom board, 17-bracing frame, 18-first motor, 19-second motor, 20-the 3rd motor, 21-steering wheel, 22-cleft hand, 23-gear transmission structure, 24-suction nozzle, 25-spring, 26-through hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described further:
As shown in figures 1-8, a kind of multivariant table-top machine robot system, comprise end effector 1, for the mechanical arm of located terminal end actuator 1, for the platform mechanism of fixing machine mechanical arm, described mechanical arm comprises large arm mechanism 2, little arm mechanism 3, first Connection Block 4, second Connection Block 5, described large arm mechanism 2 one end is connected with the second Connection Block 5, second Connection Block 5 is connected with the first Connection Block 4, large arm mechanism 2 other end is connected with little arm mechanism 3, the connecting rod of little arm mechanism 3 other end is the omnipotent fixed bar 6 of L-type, described omnipotent fixed bar 6 comprises fixed part 7 and connecting portion 8, described connecting portion 8 is for connecting end effector 1, first Connection Block 4 drives the second Connection Block 5 to rotate, and the second Connection Block 5 drives large arm mechanism 2 and little arm mechanism 3 to rotate.The multiple end effector 1 that the design of omnipotent holder can be mated, symmetrical structure is conducive to the stability of moving, and omnipotent fixed seating, on the neutral surface of mechanical arm, can reduce disturbance in mechanical arm running.
Described large arm mechanism 2 and little arm mechanism 3 are all made up of parallelogram linkage, simplify control program, and ease of assembly.
Described large arm mechanism 2 and little arm mechanism 3 outer link are made up of master connecting-rod 9 and slave connecting rod 10, master connecting-rod 9 and slave connecting rod 10 be arranged in parallel, and connected by some screw rods, and the inner space that master connecting-rod 9 and slave connecting rod 10 are formed can hold other connecting rod, is provided with spacing hole 12 around the hinge hole 11 of master connecting-rod 9.In the present embodiment, the outer link of large arm mechanism 2 and little arm mechanism 3 is by major-minor connecting rod 10 structure, and effectively can not only avoid tong and protection linkage, meanwhile, tower structure can greatly reduce vibration and the noise of operation.
Bar-shaped trough 13 is provided with in the middle of the connecting portion 8 of described omnipotent fixed bar 6, the both sides, middle part of bar-shaped trough 13 are symmetrical curved portions 14, be provided with some fixing threaded holes 15 near bar-shaped trough 13 both ends, fixing threaded hole 15 is with the use of meeting being fixedly connected with of different end effector 1; Connecting portion 8 is parallel to bar-shaped trough 13 and is provided with draw-in groove, and draw-in groove can be used for clamping end effector 1.
Second Connection Block 5 comprises the bracing frame 17 of rotating bottom board 16, the turning cylinder be connected with large arm mechanism 2, fixed bias circuit, bracing frame 17 is provided with the first motor 18, second motor 19, the 3rd motor 20, described first motor 18, second motor 19 is arranged on bracing frame 17 both sides, first motor 18 drives large arm mechanism 2 to rotate, and the second motor 19 drives little arm mechanism 3 to rotate; The motor body of the 3rd motor 20 is arranged on bracing frame 17 inside, motor shaft one end of 3rd motor 20 is fixed on the first Connection Block 4, also be provided with the bearing being fixed on motor body end between first Connection Block 4 and the second Connection Block 5, bearing is positioned at below rotating bottom board 16.The present embodiment adopts stepper motor or the servomotor of integrated setting, can alleviate the weight of mechanical arm movable part, and effective noise reduction makes robot system more stable.
The first described motor 18, second motor 19, the 3rd motor 20 are stepper motor or servomotor.
Described platform mechanism fixes mechanical arm by the first Connection Block 4, and described platform mechanism is the installation foundation that member of translational, rotary part or platform mechanism are inherently fixed.
Described end effector 1 is double freedom jaw, and described jaw drives cleft hand 22 to rotate along axle by the steering wheel 21 be fixed on above omnipotent holder, and jaw side is provided with steering wheel 21, and steering wheel 21 driven wheel drive mechanism 23 realizes the catch and release function of cleft hand 22.
Described end effector 1 is sucker, and described sucker drives suction nozzle 24 to rotate along axle by the steering wheel 21 be fixed on above omnipotent holder, and the air pump be connected with suction nozzle 24 is arranged on the second Connection Block 5, and suction nozzle 24 side is provided with Compress Spring 25.
Described end effector 1 is fixed block, and be provided with cylindrical hole 26 in the middle of described fixed block, through hole 26 side is provided with fixing threaded hole 15, clamps cylindrical objects by trip bolt with coordinating of fixing threaded hole 15.
What describe in above-described embodiment and description just illustrates principle of the present utility model and most preferred embodiment; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.

Claims (10)

1. a multivariant table-top machine robot system, comprise end effector, for the mechanical arm of located terminal end actuator, for the platform mechanism of fixing machine mechanical arm, it is characterized in that: described mechanical arm comprises large arm mechanism, little arm mechanism, first Connection Block, second Connection Block, described large arm mechanism one end is connected with the second Connection Block, second Connection Block is connected with the first Connection Block, the large arm mechanism other end is connected with little arm mechanism, the connecting rod of the little arm mechanism other end is the omnipotent fixed bar of L-type, described omnipotent fixed bar comprises fixed part and connecting portion, described connecting portion is for connecting end effector, first Connection Block drives the second Connection Block to rotate, and the second Connection Block drives large arm mechanism and little arm mechanism to rotate.
2. multivariant table-top machine robot system according to claim 1, is characterized in that: described large arm mechanism and little arm mechanism are all made up of parallelogram linkage.
3. multivariant table-top machine robot system according to claim 2, it is characterized in that: described large arm mechanism and little arm mechanism outer link are made up of master connecting-rod and slave connecting rod, master connecting-rod and slave connecting rod be arranged in parallel, and connected by some screw rods, and the inner space that master connecting-rod and slave connecting rod are formed can hold other connecting rod, is provided with spacing hole around the hinge hole of master connecting-rod.
4. multivariant table-top machine robot system according to claim 1, it is characterized in that: in the middle of the connecting portion of described omnipotent fixed bar, be provided with bar-shaped trough, the both sides, middle part of bar-shaped trough are symmetrical curved portions, be provided with some fixing threaded holes near bar-shaped trough both ends, fixing threaded hole is with the use of meeting being fixedly connected with of different end effector; Connecting portion is parallel to bar-shaped trough and is provided with draw-in groove, and draw-in groove can be used for clamping end effector.
5. multivariant table-top machine robot system according to claim 1, it is characterized in that: the second Connection Block comprises the bracing frame of rotating bottom board, the turning cylinder be connected with large arm mechanism, fixed bias circuit, bracing frame is provided with the first motor, the second motor, the 3rd motor, described first motor, the second motor are arranged on bracing frame both sides, first motor drives large arm mechanism to rotate, and the second motor drives little arm mechanism to rotate; The motor body of the 3rd motor is arranged on bracing frame inside, and motor shaft one end of the 3rd motor is fixed on the first Connection Block, and be also provided with the bearing being fixed on motor body end between the first Connection Block and the second Connection Block, bearing is positioned at below rotating bottom board.
6. multivariant table-top machine robot system according to claim 5, is characterized in that: the first described motor, the second motor, the 3rd motor are stepper motor or servomotor.
7. multivariant table-top machine robot system according to claim 1, it is characterized in that: described platform mechanism fixes mechanical arm by the first Connection Block, described platform mechanism is the installation foundation that member of translational, rotary part or platform mechanism are inherently fixed.
8. multivariant table-top machine robot system according to claim 1, it is characterized in that: described end effector is double freedom jaw, described jaw is rotated along axle by the servo driving cleft hand be fixed on above omnipotent holder, jaw side is provided with steering wheel, and servo driving gear transmission structure realizes the catch and release function of cleft hand.
9. multivariant table-top machine robot system according to claim 1, it is characterized in that: described end effector is sucker, described sucker is rotated along axle by the servo driving suction nozzle be fixed on above omnipotent holder, the air pump be connected with suction nozzle is arranged on the second Connection Block, and suction nozzle side is provided with Compress Spring.
10. multivariant table-top machine robot system according to claim 1, it is characterized in that: described end effector is fixed block, cylindrical hole is provided with in the middle of described fixed block, through hole side is provided with fixing threaded hole, clamps cylindrical objects by trip bolt with coordinating of fixing threaded hole.
CN201520613719.2U 2015-08-16 2015-08-16 Multi freedom's desktop type robot system CN204868855U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520613719.2U CN204868855U (en) 2015-08-16 2015-08-16 Multi freedom's desktop type robot system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201520613719.2U CN204868855U (en) 2015-08-16 2015-08-16 Multi freedom's desktop type robot system
PCT/CN2016/073222 WO2017028509A1 (en) 2015-08-16 2016-02-02 Grasping mechanism, grasping device and robot
PCT/CN2016/073214 WO2017028507A1 (en) 2015-08-16 2016-02-02 Mechanical arm and robot
PCT/CN2016/073219 WO2017028508A1 (en) 2015-08-16 2016-02-02 Grasping mechanism and robot

Publications (1)

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CN (1) CN204868855U (en)
WO (3) WO2017028509A1 (en)

Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN105773404A (en) * 2016-05-03 2016-07-20 胡和萍 Machine body clamping device for volcanic ash scrubber
CN105835053A (en) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 Desktop-level mechanical arm device
CN105835039A (en) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 Integrated base and robot
WO2017028507A1 (en) * 2015-08-16 2017-02-23 深圳市越疆科技有限公司 Mechanical arm and robot
CN106553164A (en) * 2016-11-24 2017-04-05 国网山东省电力公司济南供电公司 A kind of new hanging wire mechanical arm
CN107718003A (en) * 2017-10-27 2018-02-23 东北农业大学 A kind of vehicular series connection mechanical arm experimental stand
CN109318255A (en) * 2018-09-28 2019-02-12 广州市奇瓦机器人技术有限责任公司 A kind of automatic mounting machine tool arm for production line
CN109702742A (en) * 2018-12-29 2019-05-03 深圳市越疆科技有限公司 A kind of mechanical arm leveling method and device
CN110509067A (en) * 2019-07-31 2019-11-29 清华大学 A kind of complex large-scale component original position processing multi-robot system equipment
CN110624981A (en) * 2019-08-19 2019-12-31 马鞍山市国菱机械刃模有限公司 Automatic change bender system of processing

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Publication number Priority date Publication date Assignee Title
WO2017028507A1 (en) * 2015-08-16 2017-02-23 深圳市越疆科技有限公司 Mechanical arm and robot
WO2017028508A1 (en) * 2015-08-16 2017-02-23 深圳市越疆科技有限公司 Grasping mechanism and robot
CN105773404A (en) * 2016-05-03 2016-07-20 胡和萍 Machine body clamping device for volcanic ash scrubber
WO2017198219A1 (en) * 2016-05-19 2017-11-23 深圳市越疆科技有限公司 Integrated base and robot
CN105835053A (en) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 Desktop-level mechanical arm device
WO2017198217A1 (en) * 2016-05-19 2017-11-23 深圳市越疆科技有限公司 Desktop-level mechanical arm device
CN105835039A (en) * 2016-05-19 2016-08-10 深圳市越疆科技有限公司 Integrated base and robot
CN105835039B (en) * 2016-05-19 2018-03-27 深圳市越疆科技有限公司 Integrated base and robot
CN105835053B (en) * 2016-05-19 2018-03-27 深圳市越疆科技有限公司 A kind of robot arm device of desktop level
CN106553164A (en) * 2016-11-24 2017-04-05 国网山东省电力公司济南供电公司 A kind of new hanging wire mechanical arm
CN106553164B (en) * 2016-11-24 2018-11-27 国网山东省电力公司济南供电公司 A kind of hanging wire mechanical arm
CN107718003A (en) * 2017-10-27 2018-02-23 东北农业大学 A kind of vehicular series connection mechanical arm experimental stand
CN109318255A (en) * 2018-09-28 2019-02-12 广州市奇瓦机器人技术有限责任公司 A kind of automatic mounting machine tool arm for production line
CN109318255B (en) * 2018-09-28 2019-08-16 广州市奇瓦机器人技术有限责任公司 A kind of automatic mounting machine tool arm for production line
CN109702742A (en) * 2018-12-29 2019-05-03 深圳市越疆科技有限公司 A kind of mechanical arm leveling method and device
CN110509067A (en) * 2019-07-31 2019-11-29 清华大学 A kind of complex large-scale component original position processing multi-robot system equipment
CN110624981A (en) * 2019-08-19 2019-12-31 马鞍山市国菱机械刃模有限公司 Automatic change bender system of processing

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Publication number Publication date
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WO2017028508A1 (en) 2017-02-23
WO2017028507A1 (en) 2017-02-23

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Effective date of registration: 20160219

Address after: 518000 Guangdong city of Shenzhen province Nanshan District Taoyuan University City College Street Xili Road No. 1001 Nanshan Chi Park C2 building 18 layer

Patentee after: SHENZHEN YUEJIANG TECHNOLOGY CO., LTD.

Address before: 5, building 518000, building C, 39 Qingfeng Avenue, Longgang street, Longgang District, Guangdong, Shenzhen, China

Patentee before: Liu Peichao