CN205343121U - Industrial robot - Google Patents
Industrial robot Download PDFInfo
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- CN205343121U CN205343121U CN201521024943.4U CN201521024943U CN205343121U CN 205343121 U CN205343121 U CN 205343121U CN 201521024943 U CN201521024943 U CN 201521024943U CN 205343121 U CN205343121 U CN 205343121U
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- swing arm
- lifting
- placing device
- telescopic arm
- item taking
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Abstract
The utility model provides an industrial robot, includes that base and article are got and puts the device that its characterized in that still includes main shaft, swing arm and flexible arm, the main shaft is from top to bottom trend, be equipped with on the base can driving spindle go up and down and the pivoted goes up and down and slewing mechanism, be connected on swing arm and the main shaft, flexible arm is installed and be parallel to each other with the swing arm on the swing arm, is equipped with on the swing arm and drives the telescopic machanism of flexible arm along the length direction removal of swing arm, article are got and are put the device and install on flexible arm. The utility model discloses simple structure is compact, and flexible movements through lift and slewing mechanism and telescopic machanism's action combination, can change article in a flexible way and get and put the position of device in cubical space, and the removal of realization article has stronger suitability.
Description
Technical field
This utility model relates to a kind of industrial robot.
Background technology
Industrial robot is generally used for taking out article from a certain position, then article are delivered to release behind target location, thus realizing the movement of article.Move currently in order to realize article, be generally adopted mechanical hand, but, the most structure of mechanical hand is compact not, takies bigger installing space；And some manipulator behavior underaction, it being typically only capable to relatively simple action, function singleness, the suitability is poor, generally requires multiple stage mechanical hand and coordinates and from original position, article could be moved to target location, has both increased equipment cost, has taken again larger space.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of simple and compact for structure and flexible movements industrial robot.The technical scheme adopted is as follows:
A kind of industrial robot, including pedestal and item taking-placing device, it is characterised in that also include main shaft, swing arm and telescopic arm；Main shaft, for move towards up and down, pedestal is provided with drive shaft lifting and the lifting rotated and rotating mechanism, and swing arm is connected with main shaft upper end；Telescopic arm is installed on a swing arm and be parallel to each other with swing arm, swing arm is provided with drive the telescoping mechanism that telescopic arm moves along the length direction of swing arm；Described item taking-placing device is arranged on telescopic arm.
In above-mentioned industrial robot, swing arm and telescopic arm collectively form the arm of industrial robot, and item taking-placing device is used for taking, putting article.Lifting and rotating mechanism can drive main shaft, swing arm, telescoping mechanism, telescopic arm to rise or fall certain altitude together with item taking-placing device, and drive swing arm, telescoping mechanism, telescopic arm around spindle swing certain angle together with item taking-placing device.Telescoping mechanism can drive telescopic arm to stretch out or bounce back certain distance along the length direction of swing arm, thus changing the length of industrial machine human arm, namely changes the distance between item taking-placing device and main shaft.Combination of actions by lifting and rotating mechanism and telescoping mechanism, it is possible to change item taking-placing device position in solid space flexibly, it is achieved the movement of article.In actual production, above-mentioned adjustable height, rotational angle and distance of stretch out and draw back can be adjusted, with satisfied production needs.It is connected with other frames producing equipment by pedestal, or independent support is set comes mounting industrial robot, or pedestal is installed on ground, the installation site of industrial robot can be selected comparatively neatly.
Above-mentioned lifting and rotating mechanism possess lifting, rotate two kinds of moving control functions, generally there is following two design: (1) lifting and rotating mechanism include elevating mechanism, lifting platform and rotating mechanism, elevating mechanism is located on pedestal, the clutch end of elevating mechanism is connected with lifting platform, rotating mechanism is located on lifting platform, and the clutch end of rotating mechanism is connected with main shaft；Or (2) lifting and rotating mechanism include rotating mechanism, turntable and elevating mechanism, rotating mechanism is located on pedestal, and the clutch end of rotating mechanism is connected with turntable, and elevating mechanism is located on turntable, and the clutch end of elevating mechanism is connected with main shaft.
In preferred version, above-mentioned lifting and rotating mechanism include elevating mechanism, lifting platform and rotating mechanism；Elevating mechanism includes lifting motor and lifting screw, lifting screw may be rotatably mounted on pedestal, lifting screw is for move towards up and down, lifting motor is fixedly mounted on pedestal, the power output shaft of lifting motor and lifting screw lower end are in transmission connection (power output shaft of lifting motor is in transmission connection usually by the drive mechanism such as gear train or tape handler and lifting screw lower end), and lifting platform is provided with the nut or screw that are meshed with lifting screw；Rotating mechanism includes rotary electric machine, rotary electric machine is fixedly mounted on lifting platform, main shaft may be rotatably mounted on lifting platform, and the power output shaft of rotary electric machine and main shaft lower end are in transmission connection (power output shaft of rotary electric machine is in transmission connection) usually by the drive mechanism such as gear train or tape handler and main shaft lower end.More preferably in scheme, said base is provided with the riser guide moved towards up and down, and lifting platform is provided with the lifting slider being slidably matched with riser guide, and by coordinating of lifting slider and riser guide, bootable lifting platform more smoothly lifts.Above-mentioned lifting motor and rotary electric machine generally adopt servomotor.
In preferred version, above-mentioned telescoping mechanism includes telescope motor, driving pulley, driven pulley and transmission band, driving pulley, driven pulley all may be rotatably mounted on swing arm, driving pulley, driven pulley are jointly by transmission band tensioning, two straightways of transmission band are each parallel to the length direction of swing arm, telescope motor fixedly mounts on a swing arm, and the power output shaft of telescope motor and driving pulley are in transmission connection；Telescopic arm is fixing with a straightway of transmission band to be connected.More preferably in scheme, above-mentioned swing arm is provided with horizontal guide rail, and horizontal guide rail is parallel to the length direction of swing arm, and telescopic arm is provided with the second slide block being slidably matched with horizontal guide rail, by coordinating of the second slide block and horizontal guide rail, bootable telescopic arm more smoothly stretches.Preferred above-mentioned transmission band is Timing Belt, and driving pulley, driven pulley are the synchronous pulley matched with transmission band.Telescope motor generally adopts servomotor.
Above-mentioned telescoping mechanism may also comprise telescope motor and horizontal screw bolt, horizontal screw bolt may be rotatably mounted on swing arm and is parallel to the length direction of swing arm, telescopic arm is provided with the screw or nut that engage with horizontal screw bolt, and the power output shaft of telescope motor and horizontal screw bolt one end are in transmission connection.When telescope motor drives horizontal screw bolt to rotate, telescopic arm can be driven to move along the length direction of swing arm.
Above-mentioned item taking-placing device can include suction cup carrier and the multiple suckers being located in suction cup carrier, and suction cup carrier is connected with telescopic arm.Above-mentioned item taking-placing device may be used without clamping device, and clamping device can clamp, unclamp article, it is achieved picking and placeing of article.
In preferred version, above-mentioned item taking-placing device may be rotatably mounted on telescopic arm, and telescopic arm is provided with the item taking-placing device rotating mechanism driving item taking-placing device to rotate relative to telescopic arm.In a kind of concrete scheme, above-mentioned item taking-placing device includes suction cup carrier and the multiple suckers being located in suction cup carrier, and suction cup carrier is provided with suction cup carrier rotating shaft, and suction cup carrier rotating shaft may be rotatably mounted on telescopic arm；Described item taking-placing device rotating mechanism includes item taking-placing device electric rotating machine, item taking-placing device electric rotating machine is fixedly mounted on telescopic arm, and the power output shaft of item taking-placing device electric rotating machine is connected with suction cup carrier rotating shaft transmission by drive mechanism (such as tape handler, chain-drive mechanism or gear train).Item taking-placing device electric rotating machine generally adopts servomotor.Drive item taking-placing device to rotate by item taking-placing device rotating mechanism, the placing direction of article can be changed.
This utility model is simple and compact for structure, flexible movements, main shaft can be driven by lifting and rotating mechanism, swing arm, telescoping mechanism, telescopic arm rises or falls certain altitude together with item taking-placing device, and drive swing arm, telescoping mechanism, telescopic arm together with item taking-placing device around spindle swing certain angle, telescopic arm can be driven to stretch out or bounce back certain distance along the length direction of swing arm by telescoping mechanism, change the length of industrial machine human arm, so, combination of actions by lifting and rotating mechanism and telescoping mechanism, item taking-placing device position in solid space can be changed flexibly, realize the movement of article, there is the stronger suitability.
Accompanying drawing explanation
Fig. 1 is the structural representation (axonometric chart) of this utility model preferred embodiment；
Fig. 2 is the front view of industrial robot shown in Fig. 1；
Fig. 3 is the top view of industrial robot shown in Fig. 1.
Detailed description of the invention
As shown in Figure 1-Figure 3, this industrial robot includes pedestal 2, main shaft 1, swing arm 3, telescopic arm 4 and item taking-placing device 5；Main shaft 1, for move towards up and down, pedestal 2 is provided with lifting and rotating mechanism that drive shaft 1 lifts and rotates, and swing arm 3 is connected with main shaft 1 upper end；Telescopic arm 4 is arranged on swing arm 3 and is parallel to each other with swing arm 3, and swing arm 3 is provided with the telescoping mechanism driving telescopic arm 4 to move along the length direction of swing arm 3；Item taking-placing device 5 is arranged on telescopic arm 4 (in the present embodiment, item taking-placing device 5 is arranged on telescopic arm 4 end).
In the present embodiment, pedestal 2 includes base plate 21 and housing 22, and lifting and rotating mechanism place are in the housing 22.
In the present embodiment, lifting and rotating mechanism include elevating mechanism, lifting platform 6 and rotating mechanism；Elevating mechanism includes lifting motor 7 and lifting screw 8, lifting screw 8 may be rotatably mounted on pedestal 2, lifting screw 8 is for move towards up and down, lifting motor 7 fixedly mounts on the base 2, the power output shaft of lifting motor 7 and lifting screw 8 lower end are in transmission connection (power output shaft of lifting motor 7 can be in transmission connection by gear train or tape handler and lifting screw 8 lower end), and lifting platform 6 is provided with the nut or screw that are meshed with lifting screw 8；Rotating mechanism includes rotary electric machine 9, rotary electric machine 9 is fixedly mounted on lifting platform 6, main shaft 1 may be rotatably mounted on lifting platform 6, and the power output shaft of rotary electric machine 9 and main shaft 1 lower end are in transmission connection (power output shaft of rotary electric machine 9 can be in transmission connection) by gear train or tape handler and main shaft 1 lower end.Pedestal 2 is provided with the riser guide 10 moved towards up and down, and lifting platform 6 is provided with the lifting slider 11 being slidably matched with riser guide 10, and by coordinating of lifting slider 11 and riser guide 10, bootable lifting platform 6 smoothly lifts.
In the present embodiment, telescoping mechanism includes telescope motor 12, driving pulley, driven pulley and the attached not shown driving pulley of transmission band 13(and driven pulley), driving pulley, driven pulley all may be rotatably mounted on swing arm 3 (driving pulley in the present embodiment, driven pulley may be rotatably mounted at swing arm 3 two ends respectively, driving pulley is closer to telescope motor 12), driving pulley, driven pulley is jointly by transmission band 13 tensioning, transmission with 13 two straightways each parallel to the length direction of swing arm 3, telescope motor 12 is fixedly mounted on swing arm 3, the power output shaft of telescope motor 12 and driving pulley are in transmission connection；Telescopic arm 4 and transmission with a straightway of 13 fixing is connected (in the present embodiment transmission with 13 two straightways one upper, another under, telescopic arm 4 is fixed with the superincumbent straightway in place and is connected).Swing arm 3 is provided with horizontal guide rail 14, horizontal guide rail 14 is parallel to the length direction of swing arm 3, telescopic arm 4 is provided with the second slide block 15 being slidably matched with horizontal guide rail 14, and by coordinating of the second slide block 15 and horizontal guide rail 14, bootable telescopic arm 4 smoothly stretches.Transmission band 13 is Timing Belt, and driving pulley, driven pulley are with 13 synchronous pulleys matched with transmission.
Item taking-placing device 5 may be rotatably mounted on telescopic arm 4, and telescopic arm 4 is provided with the item taking-placing device rotating mechanism driving item taking-placing device 5 to rotate relative to telescopic arm 4.In the present embodiment, item taking-placing device includes suction cup carrier 51 and the multiple suckers 52 being located in suction cup carrier 51, and suction cup carrier 51 is provided with suction cup carrier rotating shaft 53, and suction cup carrier rotating shaft 53 may be rotatably mounted on telescopic arm 4；Item taking-placing device rotating mechanism includes item taking-placing device electric rotating machine 16, item taking-placing device electric rotating machine 16 is fixedly mounted on telescopic arm 4, and the power output shaft of item taking-placing device electric rotating machine 16 is in transmission connection by drive mechanism (such as tape handler, chain-drive mechanism or gear train) and suction cup carrier rotating shaft 53.
Lifting motor 7, rotary electric machine 9, telescope motor 12, item taking-placing device electric rotating machine 16 all adopt servomotor.
The operation principle of brief description this industrial robot once:
In this industrial robot, swing arm 3 and telescopic arm 4 collectively form the arm of industrial robot.Item taking-placing device 5 is used for taking, putting article, is held article when item taking-placing device 5 arrives article initial position by sucker 52, sucker 52 releasing when item taking-placing device 5 and article arrive target location.
When the power output shaft of lifting motor 7 rotates, lifting screw 8 is driven to rotate, lifting platform 6 is driven to rise or fall when lifting screw 8 rotates, thus driving main shaft 1, swing arm 3, telescoping mechanism, telescopic arm 4 to rise or fall certain altitude with item taking-placing device 5 with lifting platform 6；When the power output shaft of rotary electric machine 9 rotates, drive shaft 1 rotates, thus driving swing arm 3, telescoping mechanism, telescopic arm 4 to swing certain angle around main shaft 1 together with item taking-placing device 5.When the power output shaft of telescope motor 12 rotates, telescopic arm 4 is driven to stretch out or bounce back certain distance along the length direction of swing arm 3 by transmission with 13, thus changing the length of industrial machine human arm, i.e. distance between change item taking-placing device 5 and main shaft 1.Combination of actions by lifting motor 7, rotary electric machine 9 and telescope motor 12, it is possible to change the item taking-placing device 5 position in solid space flexibly, it is achieved the movement of article.When item taking-placing device 5 and article arrive target location, the power output shaft of item taking-placing device electric rotating machine 16 drives item taking-placing device 5 to turn an angle around suction cup carrier rotating shaft 53, can change the placing direction of article.
In actual production, can be adjusted above-mentioned adjustable height, rotational angle and distance of stretch out and draw back (by arranging the revolution of the power output shaft reciprocating rotary of lifting motor 7, swing arm 3 adjustable height such as grade can being set；By arranging the revolution of the power output shaft reciprocating rotary of rotary electric machine 9, the rotational angle of swing arm 3 grade can be set；By arranging the revolution of the power output shaft reciprocating rotary of telescope motor 12, the distance of stretch out and draw back of telescopic arm 4 can be set), with satisfied production needs.It is connected with other frames producing equipment by pedestal 2, or independent support is set comes mounting industrial robot, or pedestal 2 is installed on ground, the installation site of industrial robot can be selected comparatively neatly.
In other embodiments, lifting and rotating mechanism may also comprise rotating mechanism, turntable and elevating mechanism, and rotating mechanism is located on pedestal, and the clutch end of rotating mechanism is connected with turntable, elevating mechanism is located on turntable, and the clutch end of elevating mechanism is connected with main shaft.
In other embodiments, telescoping mechanism may also comprise telescope motor and horizontal screw bolt, horizontal screw bolt may be rotatably mounted on swing arm and is parallel to the length direction of swing arm, telescopic arm is provided with the screw or nut that engage with horizontal screw bolt, and the power output shaft of telescope motor and horizontal screw bolt one end are in transmission connection.When telescope motor drives horizontal screw bolt to rotate, telescopic arm can be driven to move along the length direction of swing arm.
In other embodiments, item taking-placing device may be used without clamping device, and clamping device can clamp, unclamp article, it is achieved picking and placeing of article.
Claims (8)
1. an industrial robot, including pedestal and item taking-placing device, it is characterised in that also include main shaft, swing arm and telescopic arm；Main shaft, for move towards up and down, pedestal is provided with drive shaft lifting and the lifting rotated and rotating mechanism, and swing arm is connected with main shaft upper end；Telescopic arm is installed on a swing arm and be parallel to each other with swing arm, swing arm is provided with drive the telescoping mechanism that telescopic arm moves along the length direction of swing arm；Described item taking-placing device is arranged on telescopic arm.
2. industrial robot according to claim 1, is characterized in that: described lifting and rotating mechanism include elevating mechanism, lifting platform and rotating mechanism；Elevating mechanism includes lifting motor and lifting screw, lifting screw may be rotatably mounted on pedestal, lifting screw is for move towards up and down, lifting motor is fixedly mounted on pedestal, the power output shaft of lifting motor and lifting screw lower end are in transmission connection, and lifting platform is provided with the nut or screw that are meshed with lifting screw；Rotating mechanism includes rotary electric machine, and rotary electric machine is fixedly mounted on lifting platform, and main shaft may be rotatably mounted on lifting platform, and the power output shaft of rotary electric machine and main shaft lower end are in transmission connection.
3. industrial robot according to claim 2, is characterized in that: described pedestal is provided with the riser guide moved towards up and down, and lifting platform is provided with the lifting slider being slidably matched with riser guide.
4. industrial robot according to claim 1, it is characterized in that: described telescoping mechanism includes telescope motor, driving pulley, driven pulley and transmission band, driving pulley, driven pulley all may be rotatably mounted on swing arm, driving pulley, driven pulley are jointly by transmission band tensioning, two straightways of transmission band are each parallel to the length direction of swing arm, telescope motor fixedly mounts on a swing arm, and the power output shaft of telescope motor and driving pulley are in transmission connection；Telescopic arm is fixing with a straightway of transmission band to be connected.
5. industrial robot according to claim 4, is characterized in that: described swing arm is provided with horizontal guide rail, and horizontal guide rail is parallel to the length direction of swing arm, and telescopic arm is provided with the second slide block being slidably matched with horizontal guide rail.
6. the industrial robot according to any one of claim 1-5, is characterized in that: described item taking-placing device may be rotatably mounted on telescopic arm, and telescopic arm is provided with the item taking-placing device rotating mechanism driving item taking-placing device to rotate relative to telescopic arm.
7. industrial robot according to claim 6, is characterized in that: described item taking-placing device includes suction cup carrier and the multiple suckers being located in suction cup carrier, and suction cup carrier is provided with suction cup carrier rotating shaft, and suction cup carrier rotating shaft may be rotatably mounted on telescopic arm；Described item taking-placing device rotating mechanism includes item taking-placing device electric rotating machine, and item taking-placing device electric rotating machine is fixedly mounted on telescopic arm, and the power output shaft of item taking-placing device electric rotating machine is connected with suction cup carrier rotating shaft transmission by drive mechanism.
8. the industrial robot according to any one of claim 1-5, is characterized in that: described item taking-placing device includes suction cup carrier and the multiple suckers being located in suction cup carrier, and suction cup carrier is connected with telescopic arm.
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| CN201521024943.4U CN205343121U (en) | 2015-12-11 | 2015-12-11 | Industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521024943.4U CN205343121U (en) | 2015-12-11 | 2015-12-11 | Industrial robot |
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| CN205343121U true CN205343121U (en) | 2016-06-29 |
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Cited By (24)
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| CN106078711A (en) * | 2016-07-06 | 2016-11-09 | 杨元国 | A kind of mechanical hand of automatization dismounting processing workpiece |
| CN106174728A (en) * | 2016-07-19 | 2016-12-07 | 苏州美山子制衣有限公司 | The device of a kind of automatic putting steel torr and underwear and cup bra moulding press |
| CN106485833A (en) * | 2016-12-13 | 2017-03-08 | 广州大学 | Article intelligently distributes control device and method |
| CN107487618A (en) * | 2017-07-27 | 2017-12-19 | 中国航天科技集团公司长征机械厂 | Repair tank installation equipment in end |
| CN107537947A (en) * | 2017-09-27 | 2018-01-05 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator device |
| CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
| CN107972049A (en) * | 2018-01-18 | 2018-05-01 | 开封市平安电器有限公司 | For the manipulator massaged, hammered |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN108381544A (en) * | 2018-04-20 | 2018-08-10 | 杭州蓝芯科技有限公司 | A kind of automatic picking robot and its control method |
| CN108542313A (en) * | 2018-06-08 | 2018-09-18 | 莱克电气股份有限公司 | Robot cleaner elevating mechanism |
| CN108637981A (en) * | 2018-07-25 | 2018-10-12 | 泸州天灵开关有限公司 | A kind of high-order flexible electric hammer frame |
| CN108869996A (en) * | 2018-08-16 | 2018-11-23 | 安徽爱依特科技有限公司 | robot projection device and its educational robot |
| CN108913865A (en) * | 2018-09-25 | 2018-11-30 | 山西凯通源管业有限公司 | A kind of bimetal metallurgy combination composite seamless pipe pipe preheating lifting platform |
| CN108972522A (en) * | 2018-07-05 | 2018-12-11 | 东莞市琪诺自动化设备有限公司 | Multi-functional five axis robot |
| CN109230510A (en) * | 2018-09-20 | 2019-01-18 | 浙江大学华南工业技术研究院 | Material Sorting production line and conveying device |
| CN109571443A (en) * | 2019-01-11 | 2019-04-05 | 段林杉 | A kind of base adjusting mechanism of articulated robot |
| CN109773743A (en) * | 2019-03-26 | 2019-05-21 | 钟发财 | A kind of new-type industrial robot grabbing device |
| CN110255650A (en) * | 2019-06-24 | 2019-09-20 | 杭州万知科技有限公司 | A kind of waste water spray evaporation processing equipment |
| CN110255645A (en) * | 2019-06-24 | 2019-09-20 | 杭州万知科技有限公司 | A kind of online waste water spray evaporation processing equipment substituted or increase and decrease auxiliary plug-in |
| CN111547193A (en) * | 2020-04-02 | 2020-08-18 | 唐山哈船科技有限公司 | Offshore replenishment system and method |
| CN112027665A (en) * | 2020-08-27 | 2020-12-04 | 徐州群硕机电科技有限公司 | Automobile wheel hub balancing weight code disc mechanism |
| CN112056449A (en) * | 2020-07-28 | 2020-12-11 | 广州市广绅电器制造有限公司 | Jam adding device and ice cream machine with same |
| CN112828599A (en) * | 2020-12-30 | 2021-05-25 | 苏州艾奈格机电设备有限公司 | Door closer mounting piece manufacturing system |
| CN117357260A (en) * | 2023-10-24 | 2024-01-09 | 北京跃维医疗科技有限公司 | Telescoping device and surgical robot system |
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- 2015-12-11 CN CN201521024943.4U patent/CN205343121U/en active Active
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078711A (en) * | 2016-07-06 | 2016-11-09 | 杨元国 | A kind of mechanical hand of automatization dismounting processing workpiece |
| CN106174728A (en) * | 2016-07-19 | 2016-12-07 | 苏州美山子制衣有限公司 | The device of a kind of automatic putting steel torr and underwear and cup bra moulding press |
| CN106485833A (en) * | 2016-12-13 | 2017-03-08 | 广州大学 | Article intelligently distributes control device and method |
| CN106485833B (en) * | 2016-12-13 | 2022-04-08 | 广州大学 | Intelligent article distribution control device and method |
| CN107487618A (en) * | 2017-07-27 | 2017-12-19 | 中国航天科技集团公司长征机械厂 | Repair tank installation equipment in end |
| CN107487618B (en) * | 2017-07-27 | 2019-01-25 | 四川航天长征装备制造有限公司 | Repair tank installation equipment in end |
| CN107537947A (en) * | 2017-09-27 | 2018-01-05 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator device |
| CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
| CN107972049A (en) * | 2018-01-18 | 2018-05-01 | 开封市平安电器有限公司 | For the manipulator massaged, hammered |
| CN107972049B (en) * | 2018-01-18 | 2023-07-28 | 开封市平安电器有限公司 | Manipulator for massaging and hammering |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN108381544A (en) * | 2018-04-20 | 2018-08-10 | 杭州蓝芯科技有限公司 | A kind of automatic picking robot and its control method |
| CN108381544B (en) * | 2018-04-20 | 2023-10-03 | 杭州蓝芯科技有限公司 | Automatic picking robot and control method thereof |
| CN108542313A (en) * | 2018-06-08 | 2018-09-18 | 莱克电气股份有限公司 | Robot cleaner elevating mechanism |
| CN108972522A (en) * | 2018-07-05 | 2018-12-11 | 东莞市琪诺自动化设备有限公司 | Multi-functional five axis robot |
| CN108637981A (en) * | 2018-07-25 | 2018-10-12 | 泸州天灵开关有限公司 | A kind of high-order flexible electric hammer frame |
| CN108869996A (en) * | 2018-08-16 | 2018-11-23 | 安徽爱依特科技有限公司 | robot projection device and its educational robot |
| CN109230510A (en) * | 2018-09-20 | 2019-01-18 | 浙江大学华南工业技术研究院 | Material Sorting production line and conveying device |
| CN108913865A (en) * | 2018-09-25 | 2018-11-30 | 山西凯通源管业有限公司 | A kind of bimetal metallurgy combination composite seamless pipe pipe preheating lifting platform |
| CN109571443A (en) * | 2019-01-11 | 2019-04-05 | 段林杉 | A kind of base adjusting mechanism of articulated robot |
| CN109773743A (en) * | 2019-03-26 | 2019-05-21 | 钟发财 | A kind of new-type industrial robot grabbing device |
| CN110255650A (en) * | 2019-06-24 | 2019-09-20 | 杭州万知科技有限公司 | A kind of waste water spray evaporation processing equipment |
| CN110255645A (en) * | 2019-06-24 | 2019-09-20 | 杭州万知科技有限公司 | A kind of online waste water spray evaporation processing equipment substituted or increase and decrease auxiliary plug-in |
| CN111547193A (en) * | 2020-04-02 | 2020-08-18 | 唐山哈船科技有限公司 | Offshore replenishment system and method |
| CN112056449A (en) * | 2020-07-28 | 2020-12-11 | 广州市广绅电器制造有限公司 | Jam adding device and ice cream machine with same |
| CN112027665A (en) * | 2020-08-27 | 2020-12-04 | 徐州群硕机电科技有限公司 | Automobile wheel hub balancing weight code disc mechanism |
| CN112828599A (en) * | 2020-12-30 | 2021-05-25 | 苏州艾奈格机电设备有限公司 | Door closer mounting piece manufacturing system |
| CN117357260A (en) * | 2023-10-24 | 2024-01-09 | 北京跃维医疗科技有限公司 | Telescoping device and surgical robot system |
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Address after: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee after: SHANTOU YUJIAXING ROBOT TECHNOLOGY CO.,LTD. Address before: 515000 Shantou, Guangdong, Jinping District, Qishan Street cellar Road, No. 13 Patentee before: SHANTOU YUJIAXING AUTOMATION EQUIPMENT Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee after: Guangdong yujiaxing Robot Technology Co.,Ltd. Address before: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee before: SHANTOU YUJIAXING ROBOT TECHNOLOGY Co.,Ltd. |
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Address after: No.8-8, lianfengfu Road, Huilian street, Jinping District, Shantou City, Guangdong Province Patentee after: Guangdong yujiaxing Technology Co.,Ltd. Address before: 515000 Guangdong province Shantou Jinping District Yuepu Lake Street Community Industrial Zone of Dongxing Lake Road No. 4 two Patentee before: Guangdong yujiaxing Robot Technology Co.,Ltd. |
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