CN205459532U - Elevating gear of machine of shifting and machine of shifting - Google Patents
Elevating gear of machine of shifting and machine of shifting Download PDFInfo
- Publication number
- CN205459532U CN205459532U CN201620104521.6U CN201620104521U CN205459532U CN 205459532 U CN205459532 U CN 205459532U CN 201620104521 U CN201620104521 U CN 201620104521U CN 205459532 U CN205459532 U CN 205459532U
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- Prior art keywords
- gear
- motor
- driving section
- spool
- lowering
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- 239000002184 metal Substances 0.000 claims description 19
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- 230000000630 rising effect Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 abstract description 3
- 206010063659 Aversion Diseases 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
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Abstract
The utility model discloses an elevating gear of machine of shifting and machine of shifting has solved the current technical problem that aversion machine elevating gear drive ratio scope is less and the volume is great, the utility model relates to an elevating gear of the machine of shifting, the power is connected including the motor that has the output shaft, with motor electricity, the first transmission portion that is connected with the one end of the output shaft of motor, the stopper of being connected with the other end of the output shaft of motor, a drive gear who links with 90 driven secondary drive portions in the first transmission portion, with secondary drive portion, and the secondary drive gear that meshes of a drive gear, and secondary drive gear fixed connection's spool and winding at the epaxial elevator belt of book, a drive gear's the number of teeth is lighter than the 2nd drive gear's the number of teeth, the rotation center axle of secondary drive gear and the coincidence of the axle center of spool.
Description
Technical field
This utility model relates to a kind of shifting machine.
Background technology
Shifting machine, for handicapped people is moved to another position from a position, makes nursery work more
Convenient and efficient and safety and comfort.
Lowering or hoisting gear in shifting machine of the prior art is typically come through single reduction gear by the output shaft of motor
Transmission moment of torsion realizes the elevating function of shifting machine, and such lowering or hoisting gear is owing to being single-stage speed reducing, and it exists
The shortcoming that gear range is less and volume is bigger.
Utility model content
Technical problem to be solved in the utility model is just to provide lowering or hoisting gear and the displacement of a kind of shifting machine
Machine, solves the technical problem that existing shifting machine lowering or hoisting gear gear range is less and volume is bigger.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that
A kind of lowering or hoisting gear of shifting machine, the power supply electrically connected with motor including the motor with output shaft,
The system that the first driving section being connected with one end of the output shaft of motor is connected with the other end of the output shaft of motor
The first driving cog that dynamic device and the second driving section of the first 90 ° of transmissions in driving section and the second driving section link
Take turns the second travelling gear with the first travelling gear engagement and the second travelling gear fix the spool that is connected with
And the elevator belt being wound on spool, the number of teeth of described first travelling gear is less than the number of teeth of the second travelling gear,
The center of rotation axle of described second travelling gear and the axis coinciding of spool.
Further, described first driving section is worm screw, and described second driving section is worm gear, or, described
First driving section and the second driving section are 45 ° of helical gears, or, described first driving section and the second transmission
Portion is bevel gear.
Further, described lowering or hoisting gear also includes that position-limit mechanism, described position-limit mechanism include for controlling horse
Reach the upper limit position switch with power circuit break-make and lower position switch and for triggering the pressing plate of upper limit position switch
With the depression bar of triggering lower position switch, the lower end of described elevator belt is provided with at least two hook, on described pressing plate
Being provided with the first through hole, described elevator belt is located at the underface of pressing plate through the first through hole and described hook, described
Depression bar be located between elevator belt and spool and one end of depression bar near elevator belt towards the surface of spool.
Further, described depression bar has elasticity, and described lower position switch has shell, the one of described depression bar
End is fixed on shell, and the other end of described depression bar is rotatably connected to roller, and the axial plane of this roller is near promoting
The surface of band.
Further, described motor and the second travelling gear are located at the second driving section and the phase of the first travelling gear
Homonymy, described spool, elevator belt and position-limit mechanism are each provided between motor and the second travelling gear.
Further, described spool is coaxially arranged with two pieces of guide plates, described elevator belt be wound on two pieces of guide plates it
Between spool axial plane on, the spool axial plane between two pieces of guide plates is provided with groove, is provided with fixing in described groove
Bar, one end of fixing bar is fixed on one piece of guide plate, and the other end of fixing bar is fixed on another block guide plate,
Fixing bar clamps elevator belt with the bottom surface of groove.
Further, described lowering or hoisting gear also includes the Hall element detecting the output shaft rotating speed of motor, institute
Stating Hall element and be provided with rotary speed threshold value, described brake is electricity loss brake, and described Hall element detects
To motor output shaft rotating speed more than rotary speed threshold value time, send a signal to brake reduce brake voltage
To increase the brake force of brake.
Further, described second travelling gear includes metal internal teeth wheel and the plastics external gear of injection mo(u)lding,
Described metal internal teeth wheel has metal external tooth, and described plastics external gear has been arranged concentrically endoporus, outside described plastics
Gear has plastics external tooth and is located at endoporus periphery and is provided with plastics internal tooth, and described spool is fixed in metal
On gear, the metal external tooth of described metal internal teeth wheel and the plastics internal tooth engagement assembling of plastics external gear, described
The plastics external tooth of plastics external gear and the first travelling gear engaged transmission.
Further, on the output shaft of described motor and/or shaft coupling is provided with torsion spring.
The invention also discloses a kind of shifting machine, fill including the lifting described in above-mentioned any one technical scheme
Put.
The beneficial effects of the utility model are:
1, the output shaft of motor realizes first order deceleration by the first driving section and the second driving section transmission, then leads to
Crossing the first travelling gear and the second travelling gear transmission realizes the second level and slows down, final drive spool rotates and controls
The lifting of elevator belt, therefore, the double reduction that lowering or hoisting gear of the present utility model is used can have bigger
Gear range, and relative to single-stage speed reducing, the volume of lowering or hoisting gear also can reduce；
2,90 ° of transmissions between the first driving section and the second driving section, reduce the size of lowering or hoisting gear, make liter
The volume of falling unit reduces further；
3, by arranging brake on the output shaft of motor, it is possible to open controlling elevator belt lifting easily
Stop and speed, prevent that motor rotary speed is too high causes elevator belt rising or falling speed too fast, thus improve lowering or hoisting gear
Safety.
Concrete technique effect of the present utility model will be further described in a specific embodiment.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, this utility model is described further:
Fig. 1 is top view of the present utility model；
Fig. 2 be in Fig. 1 A-A to sectional view；
Fig. 3 is the three dimensional structure schematic diagram at a kind of visual angle after this utility model installation torsion spring；
Fig. 4 is the three dimensional structure schematic diagram at the another kind of visual angle after this utility model installation torsion spring；
Fig. 5 is the top view after this utility model installs torsion spring.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is elaborated.
Embodiment one:
As it is shown in figure 1, the lowering or hoisting gear of a kind of shifting machine, including the casing not shown in figure, casing is pacified
The power supply 12 electrically connected with motor 1 equipped with the motor 1 with output shaft 11 and the output shaft 11 of motor 1
One end connect the first driving section 21 be connected with the other end of the output shaft 11 of motor 1 brake 13,
The second driving section 22 engaged with the first driving section 21 and the first travelling gear of the second driving section 22 linkage
31 the second travelling gears 32 engaged with the first travelling gear 31 are fixing with the second travelling gear 32 to be connected
Spool 4, around elevator belt 5 on the reel 4 and detection motor 1 output shaft 11 rotating speed Hall pass
Sensor, elevator belt 5 uses the strap or the flexible belt body of other materials, motor 1 that more toughness is higher
Using double end motor, between the first driving section 21 and the second driving section 22,90 ° of transmissions refer to the first biography
The transmission direction angle of dynamic portion 21 and the second driving section 22 is 90 °, and the first driving section 21 is preferably worm screw,
Second driving section 22 is preferably worm gear, and worm and worm wheel transmission has latching characteristics, can promote lowering or hoisting gear
Safety, the moment of torsion of output shaft 11 can also be increased simultaneously, the first driving section 21 and the second driving section 22 are also
Can all use 45 ° of helical gears or all use bevel gear, as long as the first driving section 21 and the second transmission can be made
Portion 22 realizes 90 ° of transmissions and drives the kind of drive of the second driving section 22 rotation to broadly fall into guarantor of the present utility model
Protecting scope, the first driving section 21 and the second driving section 22 are arranged in housing 2 and realize dust-proof effect, and first
The number of teeth of travelling gear 31 is less than the number of teeth of the second travelling gear 32, and the second driving section 22 has connecting shaft 22a,
First travelling gear 31 has gear shaft 31a, and connecting shaft 22a and gear shaft 31a are solid by shaft coupling 22b
Fixed connection, uses shaft coupling 22b to make the second driving section 22 and the linkage of the first travelling gear 31 be fairly simple
A kind of mode, certainly, the second driving section 22 and the first travelling gear 31 can also use other even
Connect mode or the kind of drive realizes linkage, the center of rotation axle of the second travelling gear 32 and the axle center of spool 4
Overlapping, the first driving section 21 uses metal material to make, and the second driving section 22 uses non-metallic material system
Become, so can lower the first driving section 21 and the second driving section 22 noise in transmission process, motor 1
Output shaft 11 realized the deceleration of the first order, the second transmission by the first driving section 21 and the second driving section 22
Portion 22 drives the first travelling gear 31 synchronous axial system by connecting shaft 22a, shaft coupling 22b and gear shaft 31a,
Realized the second level by the engaged transmission of the first travelling gear 31 and the second travelling gear 32 again to slow down, make spool 4
Low speed rotation drives elevator belt 5 to lift, and lowering or hoisting gear can have bigger transmission by above-mentioned double reduction
Ratio scope, and volume also can reduce further.
Hall element is arranged on motor 1 interiorly or exteriorly, and Hall element is provided with rotary speed threshold value, Hall
When sensor detects the rotating speed of the output shaft 11 of motor 1 more than rotary speed threshold value, send a signal to brake 13
Trigger brake 13 generation and put on the brake force on the output shaft 11 of motor 1, in order to improve lowering or hoisting gear
Safety, brake 13 uses electricity loss brake, and the operation principle of electricity loss brake is the least braking of voltage
Power is the biggest, and when lowering or hoisting gear accident power-off, the voltage of brake 13 is zero, now brake 13
Brake force reaches maximum so that the output shaft 11 of motor 1 stops the rotation in a short period of time, brake 13
Inside being integrated with voltage changing module, supply voltage accesses the input of voltage changing module, and the power supply lead wire of brake 13 connects
Entering the outfan of voltage changing module, Hall element detects that the rotating speed of the output shaft 11 of motor 1 is more than rotating speed threshold
During value, send a signal to the voltage changing module in brake 13 and reduce the input voltage of brake 13 to increase system
The brake force of dynamic device 13, the output shaft 11 controlling motor 1 is decelerated to Rational Rotation Speed scope, to improve lifting
The safety of device.
As shown in Figures 1 to 4, the lifting of the lowering or hoisting gear button Non-follow control by control motor 1 rotating,
In order to avoid human operational error causes lowering or hoisting gear excessively raise or excessively reduce, lowering or hoisting gear also includes limit
Position mechanism 6, position-limit mechanism 6 includes the upper limit position switch 61 for controlling motor 1 and power supply 12 connecting and disconnecting of the circuit
With lower position switch 62 and for trigger upper limit position switch 61 pressing plate 61a and trigger lower position switch 62
Depression bar 62a, the lower end of elevator belt 5 is provided with at least two hook 51, owing to hook 51 is directly anchored to carry
Being easily caused elevator belt 5 on liter band 5 to tear, therefore the lower end at elevator belt 5 arranges a mounting rod, and
Hook 51 is fixed on mounting rod, and pressing plate 61a is provided with the first through hole 61b, the top of the first through hole 61b
Being provided with directive wheel 5a, elevator belt 5 is pressed against on directive wheel 5a after being guided by directive wheel 5a and is then passed through first
Through hole 61b, the underfaces that hook 51 is located at pressing plate 61a, depression bar 62a be located at elevator belt 5 and spool 4 it
Between and one end of depression bar 62a near elevator belt 5 towards the surface of spool 4.
The control process of upper limit position switch 61 and lower position switch 62 is:
Elevator belt 5 moves upward after driving hook 51 to go upward to link up with the lower surface of 51 contact pressing plate 61a,
Band dynamic pressure plate 61a moves upward and triggers upper limit position switch 61, and upper limit position switch 61 controls motor 1 and power supply
The circuit of 12 disconnects, and now, lowering or hoisting gear reaches maximum lifting height；
Coiling direction winding when elevator belt 5 moves downwardly to spool 4 to move upward in contrast to elevator belt 5
Elevator belt 5, elevator belt 5 produces displacement to depression bar direction, drives depression bar 62a to move downward triggering lower limit and opens
Closing 62, lower position switch 62 controls the circuit disconnection of motor 1 and power supply 12, and now, lowering or hoisting gear reaches
Minimum lift height.
Upper limit position switch 61, lower position switch 62, pressing plate 61a and depression bar 62a can be arranged on casing
On inwall, but in order to the assembling of position-limit mechanism 6 is convenient, it is preferred that position-limit mechanism 6 also includes supporting
Plate 63, upper limit position switch 61 and lower position switch 62 are each provided in gripper shoe 63, due to lower position switch
The setting height(from bottom) tool of 62 there are certain requirements, for the ease of regulating the setting height(from bottom) of lower position switch 62, gripper shoe
63 are provided with a bracer 63a, and lower position switch 62 is arranged on a bracer 63a, and pressing plate 61a is located at gripper shoe
Between 63 and upper limit position switch 61, one end of pressing plate 61a is rotatably connected in gripper shoe 63, pressing plate 61a
Triggering upper limit position switch 61 by hook 51 lifting, after elevator belt 5 moves downward again, pressing plate 61a is by weight
Power effect falls the upper surface of gripper shoe 63 automatically without extra resetting-mechanism, by gripper shoe 63
Upper limit position switch 61, lower position switch 62, pressing plate 61a and depression bar 62a are combined, position restrainer
Structure 6 has only to when installing be fixed in casing gripper shoe 63, simplifies the installation process of position-limit mechanism 6.
Owing to pressing plate 61a is provided with reclinate prominent by least two hook 51 lifting, the other end of pressing plate 61a
Going out portion 61c, hook 51 is located at the underface of protuberance 61c, and the pressing plate 61a arranging protuberance 61c compares
Flat pressing plate 61a can trigger upper limit position switch 61 in advance, prevents the parts of mounting below elevator belt from connecing
Contact gripper shoe 63 and interfere.
Depression bar 62a has elasticity, and lower position switch 62 has shell, and one end of depression bar 62a is fixed on shell
On, the other end of depression bar 62a is rotatably connected to roller 62b, and the axial plane of this roller 62b is near elevator belt 5
Surface, by arranging roller 62b in the end of depression bar 62a, it is possible to reduces depression bar 62a and contacts with elevator belt 5
Time frictional force, prevent depression bar 62a end scratch elevator belt 5, owing to depression bar 62a has elasticity, carrying
Rise the coiling direction winding elevator belt 5 when moving downwardly to spool 4 to move upward in contrast to elevator belt 5 with 5,
After depression bar 62a contact elevator belt 5, move downward triggering lower position switch 62 and produce elastic bending, carrying
Rise band 5 move upward after, depression bar 62a can automatically reset without plus outside resetting-mechanism.
In order to reduce the volume of update device further, motor 1 and the second travelling gear 32 are located at the second transmission
Portion 22 and the same side of the first travelling gear 31, so that being formed between motor 1 and the second travelling gear 32
Accommodation space, spool 4, elevator belt 5 and position-limit mechanism 6 be each provided at motor 1 and the second travelling gear 32 it
Between accommodation space in, such mounting arrangements structure improve lowering or hoisting gear space availability ratio so that lifting
The structure of device is compacter.
Spool 4 is coaxially arranged with two pieces of guide plate 4a, and elevator belt 5 is wound on the spool 4 between two pieces of guide plate 4a
On axial plane, two pieces of guide plate 4a serve position-limiting action to elevator belt 5, the spool axial plane between two pieces of guide plate 4a
Being provided with groove 41, be provided with fixing bar 42 in groove 41, one end of fixing bar 42 is fixed on one piece of guide plate 4a
On, the other end of fixing bar 42 is fixed on another block guide plate 4a, fixing bar 42 and the bottom surface of groove 41
Clamping elevator belt 5, elevator belt 5 is fixing on the reel 4 by fixing bar 42, it is achieved spool 4 is two sides
Upwards can wind elevator belt 5, and fixing bar 42 is accommodated in groove 41, thus without the volume to elevator belt 5
Produce around process and interfere.
As it is shown on figure 3, the second travelling gear 32 includes metal internal teeth wheel 321 and the plastics external tooth of injection mo(u)lding
Wheel 322, metal internal teeth wheel 321 has metal external tooth 321a, and plastics external gear 322 has been arranged concentrically endoporus,
Plastics external gear 322 has plastics external tooth 322a and is located at endoporus periphery and is provided with plastics internal tooth 322b, volume
Axle 4 is fixed on metal internal teeth wheel 321, the metal external tooth 321a of metal internal teeth wheel 321 and plastics external gear
The plastics internal tooth 322b engagement assembling of 322, the plastics external tooth 322a of plastics external gear 322 and the first driving cog
Take turns 31 engaged transmission, by the second travelling gear 32 being arranged to metal internal teeth wheel 321 and plastics external gear
322, making an uproar when so can reduce the first travelling gear 32 and the second travelling gear 32 engaged transmission further
Sound.
As Fig. 3 is to shown in 5, and on the output shaft 11 of motor 1 and on shaft coupling 22b, at least one place is provided with torsion
Spring 14, when elevator belt 5 declines, torsion spring 14 is twisted, and torsion spring 14 rises during lowering or hoisting gear declines
Arrive speed limit effect, and lost in first driving section, the second driving section of lowering or hoisting gear and brake 13 simultaneously
During effect, the twisting resistance of torsion spring 14 can realize the self-locking of lowering or hoisting gear；
The concrete installation method of torsion spring 14 is promising:
As it is shown on figure 3, shaft coupling 22b is provided with the columnar part being coaxially disposed, torsion spring 14 is enclosed within this columnar part
On, one end of torsion spring 14 is fixed in columnar part, and the other end of torsion spring 14 is fixed on the shell outside turbine 22
On body 2 or in the casing of lowering or hoisting gear；
As shown in Figure 4, the output shaft 11 of motor 1 stretches out brake 13, and output shaft 11 stretches out brake 13
Segment section be provided with the columnar part being coaxially disposed with output shaft 11, torsion spring 14 is enclosed within this columnar part, braking
Device 13 is provided with enclosing cover 13a, and torsion spring 14, this columnar part and output shaft 11 stretch out the part of brake 13
Section is contained in the cavity of brake 13 and enclosing cover 13a composition, and one end of torsion spring 14 is fixed in columnar part,
The other end of torsion spring 14 is fixed on enclosing cover 13a；
As it is shown in figure 5, output shaft 11 segment section between motor 1 and brake 13 is provided with and output shaft
11 columnar part being coaxially disposed, torsion spring 14 is enclosed within this columnar part, and one end of torsion spring 14 is fixed on columnar part
On, the other end of torsion spring 14 is fixed on motor 1 or is fixed in brake 13.
Embodiment two:
As Fig. 1 is to shown in 5, and a kind of shifting machine, including the lowering or hoisting gear described in embodiment one.
Above this utility model preferred embodiment is described, but is not to be construed as claim
Limit.This utility model is not only limited to above example, and its concrete structure allows to change, this area skill
Art personnel can be variously modified according to this utility model and deform, without departing from essence of the present utility model
God, belongs to scope defined in this utility model claims.
Claims (10)
1. the lowering or hoisting gear of a shifting machine, it is characterised in that include motor and the motor with output shaft
First driving section that is connected with one end of the output shaft of motor of power supply of electrical connection and the output shaft of motor
The brake that the other end connects joins with the second driving section of the first 90 ° of transmissions in driving section and the second driving section
The first dynamic travelling gear and the second travelling gear of the first travelling gear engagement and the second travelling gear are admittedly
The fixed spool connected and the elevator belt being wound on spool, the number of teeth of described first travelling gear is less than the second biography
The number of teeth of moving gear, the center of rotation axle of described second travelling gear and the axis coinciding of spool.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 1, it is characterised in that described first
Driving section is worm screw, and described second driving section is worm gear, or, described first driving section and the second driving section
It is 45 ° of helical gears, or, described first driving section and the second driving section are bevel gear.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 2, it is characterised in that described lifting
Device also includes that position-limit mechanism, described position-limit mechanism include the upper limit for controlling motor and power circuit break-make
Bit switch and lower position switch and for triggering the pressing plate of upper limit position switch and triggering the pressure of lower position switch
Bar, the lower end of described elevator belt be provided with at least two hook, described pressing plate is provided with the first through hole, described in carry
Rising band and be located at the underface of pressing plate through the first through hole and described hook, described depression bar is located at elevator belt and spool
Between and one end of depression bar near elevator belt towards the surface of spool.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 3, it is characterised in that described depression bar
Having elasticity, described lower position switch has shell, and one end of described depression bar is fixed on shell, described pressure
The other end of bar is rotatably connected to roller, and the axial plane of this roller is near the surface of elevator belt.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 2, it is characterised in that described motor
It is located at the second driving section and the same side of the first travelling gear, described spool, elevator belt with the second travelling gear
With position-limit mechanism is each provided between motor and the second travelling gear.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 1, it is characterised in that described spool
Being coaxially arranged with two pieces of guide plates, described elevator belt is wound on the spool axial plane between two pieces of guide plates, leads for two pieces
Spool axial plane between plate is provided with groove, is provided with fixing bar in described groove, and one end of fixing bar is fixed on
On one piece of guide plate, the other end of fixing bar is fixed on another block guide plate, and fixing bar clamps with the bottom surface of groove
Elevator belt.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 1, it is characterised in that described lifting
Device also includes the Hall element detecting the output shaft rotating speed of motor, and described Hall element is provided with rotating speed threshold
Value, described brake is electricity loss brake, and described Hall element detects that the rotating speed of the output shaft of motor is big
When rotary speed threshold value, send a signal to brake and reduce the voltage of brake to increase the brake force of brake.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 1, it is characterised in that described second
Travelling gear includes that metal internal teeth wheel and the plastics external gear of injection mo(u)lding, described metal internal teeth wheel have metal
External tooth, described plastics external gear has been arranged concentrically endoporus, and described plastics external gear has plastics external tooth and is located at
Endoporus periphery is provided with plastics internal tooth, and described spool is fixed on metal internal teeth wheel, and described metal internal teeth is taken turns
Metal external tooth and plastics external gear plastics internal tooth engagement assembling, the plastics external tooth of described plastics external gear with
First travelling gear engaged transmission.
The lowering or hoisting gear of a kind of shifting machine the most according to claim 1, it is characterised in that described motor
Output shaft on and/or shaft coupling be provided with torsion spring.
10. a shifting machine, it is characterised in that include the lifting dress described in claim 1～9 any one
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620104521.6U CN205459532U (en) | 2016-02-01 | 2016-02-01 | Elevating gear of machine of shifting and machine of shifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620104521.6U CN205459532U (en) | 2016-02-01 | 2016-02-01 | Elevating gear of machine of shifting and machine of shifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205459532U true CN205459532U (en) | 2016-08-17 |
Family
ID=56673213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620104521.6U Expired - Fee Related CN205459532U (en) | 2016-02-01 | 2016-02-01 | Elevating gear of machine of shifting and machine of shifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205459532U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775633A (en) * | 2016-08-26 | 2018-03-09 | 冠亿精密工业(昆山)有限公司 | High-flexibility humanoid mechanical arm |
| WO2021082432A1 (en) * | 2019-10-29 | 2021-05-06 | 深圳市迈康信医用机器人有限公司 | Electric lifting and moving machine |
| CN113332068A (en) * | 2021-06-02 | 2021-09-03 | 上海交通大学 | Standing auxiliary dragging device and control method thereof |
-
2016
- 2016-02-01 CN CN201620104521.6U patent/CN205459532U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775633A (en) * | 2016-08-26 | 2018-03-09 | 冠亿精密工业(昆山)有限公司 | High-flexibility humanoid mechanical arm |
| WO2021082432A1 (en) * | 2019-10-29 | 2021-05-06 | 深圳市迈康信医用机器人有限公司 | Electric lifting and moving machine |
| CN113332068A (en) * | 2021-06-02 | 2021-09-03 | 上海交通大学 | Standing auxiliary dragging device and control method thereof |
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