CN205835341U - A kind of robot palletizer with vertical slide and horizontal slide - Google Patents
A kind of robot palletizer with vertical slide and horizontal slide Download PDFInfo
- Publication number
- CN205835341U CN205835341U CN201620795371.8U CN201620795371U CN205835341U CN 205835341 U CN205835341 U CN 205835341U CN 201620795371 U CN201620795371 U CN 201620795371U CN 205835341 U CN205835341 U CN 205835341U
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- slide
- horizontal
- vertical
- robot palletizer
- horizontal slide
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Abstract
A kind of robot palletizer with vertical slide and horizontal slide, it includes base, lumbar device, is connected to the arm apparatus of lumbar device and is connected to the handgrip of arm apparatus, and base drives lumbar device to rotate；Lumbar device includes horizontal carriage and vertical carriage, and horizontal carriage includes horizontal slide and drives the horizontal screw lead of horizontal slide, and vertical carriage includes vertical slide and drives the vertical leading screw of vertical slide；Robot palletizer also includes driving the first motor of horizontal screw lead and driving the second motor of vertical leading screw, and the first motor drives horizontal screw lead by the first variator.First motor drives horizontal screw lead by the first variator, the gear ratio needed by the first variator regulation, can select moment of torsion and the rotating speed of output as required.
Description
Technical field
This utility model relates to robot field, in particular to a kind of code with vertical slide and horizontal slide
Buttress robot.
Background technology
Robot palletizer be used in industrial processes perform high-volume workpiece, the acquisition of package, carrying, piling,
One class industrial robot of the tasks such as de-stacking, is to integrate the subjects such as machinery, electronics, information, intellectual technology, computer science
High-new electronic product.
The structural shape of robot palletizer mainly has cartesian co-ordinate type, joint type.Cartesian co-ordinate type robot palletizer is 4 axles
Robot.On X-axis, Y-axis and Z axis, and Z axis in 4 kinematic axis correspondence rectangular coordinate systems with a rotary shaft.Right angle
The transmission of coordinates robot is mainly by driving the rotation of motor to drive Timing Belt to move, and Timing Belt drives on line slideway
Slide block movement.Cartesian robot has positioning precision height, space tracking is prone to advantages such as solving, computer control is simple,
But being taken up space, working range big, relative is little, operating flexibility is poor, movement velocity is relatively low.Compared with Cartesian robot, close
Nodal pattern robot fuselage is little and motion space big, and flexible movements can meet more production requirement, and range of application is wider.?
In prior art, the structure of 4DOF robot palletizer is complex and expensive.
Utility model content
The purpose of this utility model is to provide a kind of robot palletizer with vertical slide and horizontal slide, its structure
Simple and cost is relatively low.
Embodiment of the present utility model is achieved in that
A kind of robot palletizer with vertical slide and horizontal slide, it includes base, lumbar device, is connected to waist
The arm apparatus of device and be connected to the handgrip of arm apparatus, base drives lumbar device to rotate；Lumbar device includes level
Carriage and vertical carriage, horizontal carriage includes horizontal slide and drives the horizontal screw lead of horizontal slide, perpendicular
Straight carriage includes vertical slide and drives the vertical leading screw of vertical slide；Robot palletizer also includes driving horizontal screw lead
The first motor and drive the second motor of vertical leading screw, the first motor drives horizontal screw lead by the first variator.
In this utility model preferred embodiment, the second of the above-mentioned robot palletizer with vertical slide and horizontal slide
Motor drives vertical leading screw by the second variator.
In this utility model preferred embodiment, the arm of the above-mentioned robot palletizer with vertical slide and horizontal slide
Device includes postbrachium and is hinged to the forearm of one end of postbrachium.
In this utility model preferred embodiment, the postbrachium of the above-mentioned robot palletizer with vertical slide and horizontal slide
First connecting rod is passed through including rear large arm and rear forearm spaced with rear large arm, one end of rear large arm and one end of rear forearm
Hinged.
In this utility model preferred embodiment, the level of the above-mentioned robot palletizer with vertical slide and horizontal slide
Slide is hinged to rear large arm.
In this utility model preferred embodiment, the above-mentioned robot palletizer with vertical slide and horizontal slide vertical
Slide is hinged to rear forearm.
In this utility model preferred embodiment, the above-mentioned robot palletizer with vertical slide and horizontal slide includes waist
Portion's housing, horizontal slide is arranged at the top of waist housing.
In this utility model preferred embodiment, the above-mentioned robot palletizer with vertical slide and horizontal slide vertical
Slide is arranged at the sidepiece of waist housing.
In this utility model preferred embodiment, the forearm of the above-mentioned robot palletizer with vertical slide and horizontal slide
One end be provided with installing rack, installing rack connects handgrip.
In this utility model preferred embodiment, the above-mentioned robot palletizer with vertical slide and horizontal slide rear little
Arm is provided with A-frame with the hinged place of forearm, and one end of A-frame is connected to postbrachium, triangle by the first auxiliary connecting rod
The other end of support is connected to installing rack by the second auxiliary connecting rod.
This utility model embodiment provides the benefit that: the robot palletizer with vertical slide and horizontal slide also includes
Driving the first motor of horizontal screw lead and drive the second motor of vertical leading screw, the first motor drives water by the first variator
Flat leading screw.Thus the gear ratio needed by the first variator regulation, moment of torsion and the rotating speed of output can be selected as required.?
Rotate in start-up course, need to overcome bigger rotary inertia, the first variator can be regulated to bigger output moment of torsion.When
When being not required to relatively large rotating inertia after completing start-up course, the first variator can be regulated to less output moment of torsion.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, will use required in embodiment below
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiment of the present utility model, the most should be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the schematic perspective view of the robot palletizer with vertical slide and horizontal slide of the present utility model；
Fig. 2 is another three-dimensional signal of the robot palletizer with vertical slide and horizontal slide of the present utility model
Figure；
Fig. 3 is that the solid of the arm apparatus of the robot palletizer with vertical slide and horizontal slide of the present utility model is shown
It is intended to；
Fig. 4 is that the solid of the lumbar device of the robot palletizer with vertical slide and horizontal slide of the present utility model is shown
It is intended to.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of this utility model rather than whole embodiments.Generally described in the accompanying drawing herein and
The assembly of this utility model embodiment illustrated can be arranged with various different configurations and design.
Therefore, below the detailed description of the embodiment of the present utility model provided in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in this utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, all
Belong to the scope of this utility model protection.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.
In description of the present utility model, " " center ", " on ", D score, "left", "right", " perpendicular it should be noted that term
Directly ", " level ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, or
It is the orientation or position relationship usually put during the use of this utility model product, is for only for ease of description this utility model and letter
Change describe rather than instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and
Operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ", " the 3rd " etc. are only used for district
Divide and describe, and it is not intended that indicate or hint relative importance.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " sets
Put ", should be interpreted broadly " installation ", " connection ", connect for example, it may be fixing, it is also possible to be to removably connect, or integratedly
Connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Language concrete meaning in this utility model.
First embodiment
Refer to Fig. 1 and Fig. 2, the present embodiment provides a kind of robot palletizer 100 with vertical slide and horizontal slide,
It includes base 110, lumbar device 120, arm apparatus 130 and handgrip 152, and base 110 drives lumbar device 120 to rotate,
Arm apparatus 130 is connected to lumbar device 120, and handgrip 152 is connected to arm apparatus 130.
Base 110 is installed to ground or other installed surface, and base 110 includes base 110 housing, driving means (not shown)
And deceleration device (not shown), driving means and deceleration device are separately mounted to the inside of base 110 housing.At the present embodiment
In, driving means includes the first motor and the second motor；Deceleration device is planet-gear speed reducer.
The robot palletizer 100 with vertical slide and horizontal slide rotates in start-up course, needs to overcome bigger turning
Dynamic inertia, thus the decelerator installing gear ratio bigger between motor and load increases output moment of torsion.This utility model exists
Leading screw and driving means are provided with variator, are not required to relatively large rotating inertia after completing start-up course, such that it is able to logical
Overregulate the gear ratio of variator to regulate the driving torque of needs.Such as, can be adjusted to relatively after completing start-up course
Little gear ratio, reduces the output moment of torsion of driving means, increases the output speed of driving means.
Refer to Fig. 3 and Fig. 4, lumbar device 120 includes horizontal carriage 121 and vertical carriage 124.Level is sliding
Dynamic device 121 is connected to the rear large arm 132 of arm apparatus 130, and vertical carriage 124 is connected to the rear little of arm apparatus 130
Arm 133.
Horizontal carriage 121 includes horizontal slide 122, horizontal screw lead 123 and horizontal slide rail 161, and horizontal slide 122 is opened
Being provided with installation through hole (not shown), this installation through hole coordinates with horizontal screw lead 123, and this installation through hole has female thread, level silk
Thick stick 123 has the external screw thread mated with this female thread.The both sides of horizontal slide 122 are respectively arranged with slide block, and horizontal slide rail 161 wraps
Including two slide rails, the two slide rail is arranged at the top of waist housing 127, and the two slide rail is parallel.Horizontal slide 122
Two slide blocks coordinate with two slide rails of horizontal slide rail 161 respectively.Horizontal slide rail 161 is horizontally disposed, thus level is sliding
Seat 122 can be along horizontal slide rail 161 slide anteroposterior in the horizontal direction.
Vertically carriage 124 includes that vertical slide 125, vertical leading screw 126 and upright slide rail 163, vertical slide 125 are opened
Being provided with installation through hole (not shown), this installation through hole coordinates with vertical leading screw 126, and this installation through hole has female thread, vertical thread
Thick stick 126 has the external screw thread mated with this screw thread.Vertically the both sides of slide 125 are respectively arranged with skiing, and upright slide rail 163 includes
Two slide rails, the two slide rail is arranged at the side of waist housing 127, and the two slide rail is parallel.Vertically the two of slide 125
Individual slide block coordinates with two slide rails of upright slide rail 163 respectively.Upright slide rail 163 is vertically arranged, thus vertically slide
125 along upright slide rail 163 in the vertical direction lower slider.
Described above, the horizontal screw lead 123 of horizontal carriage 121 is driven by the first motor, and vertically slide dress
The vertical leading screw putting 124 passes through the second motor driving.Above-described deceleration device includes for horizontal carriage 121
One speed reducer (not shown) and the second decelerator (not shown) for vertical carriage 124.Above-described variator
Including the first variator (not shown) for horizontal carriage 121 and the second speed change for vertical carriage 124
Device (not shown).
The robot palletizer 100 with vertical slide and horizontal slide of the present utility model regulates transmission by variator
Ratio, it should be appreciated that variator can with ladder multi-ratio transmission, buncher, manual transmission, automatic transmission or other
The variator of type.
Specifically, the output shaft of the first motor is connected to the first decelerator, and the output of the first decelerator is connected to the first change
Speed device, the output of the first variator is connected to horizontal screw lead 123.Thus, the output of the first motor passes through the first decelerator
Export to horizontal screw lead 123 with the first variator.The moment of torsion of output can be controlled by regulating the gear ratio of the first variator
And rotating speed.In rotating start-up course, need to overcome bigger rotary inertia, can regulate to bigger output moment of torsion.When complete
When being not required to relatively large rotating inertia after becoming start-up course, can regulate to less output moment of torsion.When the first variator
When gear ratio regulation is to bigger gear ratio, the moment of torsion of output rotating speed that is relatively big and that export is less.Biography when the first variator
Dynamic than regulation to less gear ratio time, the moment of torsion of output rotating speed that is less and that export is bigger.After completing start-up course
Less gear ratio can be adjusted to, reduce the output moment of torsion of driving means, increase the output speed of driving means.
The output shaft of the second motor is connected to the second decelerator, and the output of the second decelerator is connected to the second variator, the
The output of two variators is connected to vertical leading screw 126.Thus, the output of the second motor is become by the second decelerator and second
Speed device exports to vertical leading screw 126.Moment of torsion and the rotating speed of output can be controlled by regulating the gear ratio of the second variator.?
Rotate in start-up course, need to overcome bigger rotary inertia, can regulate to bigger output moment of torsion.When completing start-up course
When being not required to relatively large rotating inertia afterwards, can regulate to less output moment of torsion.When the gear ratio of the second variator regulates
During to bigger gear ratio, the moment of torsion of output rotating speed that is relatively big and that export is less.When the gear ratio of the second variator regulates extremely
During less gear ratio, the moment of torsion of output rotating speed that is less and that export is bigger.Can be adjusted to after completing start-up course
Less gear ratio, reduces the output moment of torsion of driving means, increases the output speed of driving means.
Thus by regulating the first variator and the gear ratio of the second variator, the moment of torsion of output can be selected as required
And rotating speed.In rotating start-up course, need to overcome bigger rotary inertia, the first variator and the second variator can be adjusted
Joint is to bigger output moment of torsion.When completing to be not required to relatively large rotating inertia after start-up course, can be by the first variator
Regulate to less output moment of torsion with the second variator.
Continuing referring to Fig. 1 and Fig. 2, arm apparatus 130 includes postbrachium 131, forearm 134, first connecting rod 135 and auxiliary even
Bar 140.Postbrachium 131 includes that rear large arm 132 and rear forearm 133, rear large arm 132 and rear forearm 133 are parallel to each other and are spaced and set
Putting, one end of rear large arm 132 is hinged to the top of waist housing 127, and one end of rear forearm 133 is also hinged to waist housing
The top of 127, the other end of rear large arm 132 and the other end of rear forearm 133 are hinged with forearm 134 respectively, first connecting rod 135
One end is hinged to the other end of rear large arm 132 and first connecting rod 135 and is hinged to rear forearm 133.Rear large arm 132, rear forearm
133, first connecting rod 135 and forearm 134 form quadric chain.
One end of forearm 134 is provided with the installing rack 151 for installing handgrip 152, before the side of installing rack 151 is connected to
One end of arm 134, the opposite side of installing rack 151 is connected to handgrip 152.
Auxiliary connecting rod 140 includes the first auxiliary connecting rod the 141, second auxiliary connecting rod 142 and A-frame 143, the first auxiliary
One end of connecting rod 141 is hinged to A-frame 143, and the other end of the first auxiliary connecting rod 141 is hinged to the 147 of 145, the second auxiliary
One end of connecting rod 142 is hinged to A-frame 143, and the other end of the second auxiliary stand is hinged to handgrip 152.
First motor drives horizontal screw lead 123 to rotate, and horizontal screw lead 123 drives horizontal slide 122 on horizontal screw lead 123
Seesaw.When the first motor rotates with first direction (the most clockwise), horizontal screw lead 123 is (the most suitable with first direction
Hour hands) rotate, horizontal screw lead 123 drives horizontal slide 122 to travel forward, and horizontal slide 122 is sliding in horizontal slide rail 161 simultaneously
Dynamic.When the first motor rotates with second direction (the most counterclockwise), horizontal screw lead 123 turns with second direction (the most counterclockwise)
Dynamic, horizontal screw lead 123 drives horizontal slide 122 rearward movement, and horizontal slide 122 slides in horizontal slide rail 161 simultaneously.
Second motor drives vertical leading screw 126 to rotate, and vertical leading screw 126 drives vertical slide 125 on vertical leading screw 126
Vertically movable.When the second motor rotates with first direction (the most clockwise), vertical leading screw 126 is (the most suitable with first direction
Hour hands) rotate, vertical leading screw 126 drives vertical slide 125 to move upward, and the most vertically slide 125 is sliding in upright slide rail 163
Dynamic.When the second motor rotates with second direction (the most counterclockwise), vertical leading screw 126 turns with second direction (the most counterclockwise)
Dynamic, vertical leading screw 126 drives vertical slide 125 to move downward, and the most vertically slide 125 slides in upright slide rail 163.
Continue referring to Fig. 1 and Fig. 2, the arm dress with the robot palletizer 100 of vertical slide and horizontal slide is described
Put the principle of 130.First motor drives horizontal screw lead 123 to rotate by the first decelerator and the first variator, and the second motor leads to
Cross the second decelerator and the second variator drives vertical leading screw 126 to rotate.Horizontal carriage 121 and vertical carriage 124
The elevating movement on arm apparatus stretching motion in the horizontal direction and vertical direction can be realized.
Owing to rear large arm 132 is hinged to horizontal slide 122, when horizontal slide 122 is transported along the axial direction of horizontal screw lead 123
Time dynamic, horizontal slide 122 moves on the axial direction of horizontal screw lead 123.When horizontal slide 122 is along the axle of horizontal screw lead 123
When the rearward movement of direction, owing to first connecting rod 135 is hinged with rear large arm 132, horizontal slide 122 pulls downward on rear large arm 132,
Rear large arm 132 moves downward.When horizontal slide 122 travels forward along the axial direction of horizontal screw lead 123, due to first connecting rod
135 is hinged with rear large arm 132, and horizontal slide 122 upwardly rear large arm 132, rear large arm 132 moves upward.Form double leval jib
Other arm of structure makees corresponding motion.
Owing to rear forearm 133 is hinged to vertical slide 125, when vertical slide 125 is transported along the axial direction of vertical leading screw 126
Time dynamic, vertical slide 125 moves on the axial direction of vertical leading screw 126, when vertical slide 125 is along the axle of vertical leading screw 126
When moving upward to direction, owing to first connecting rod 135 is hinged with rear forearm 133, vertical slide 125 upwardly rear forearm 133,
Rear forearm 133 moves downward.When vertical slide 125 moves downward along the axial direction of vertical leading screw 126, due to first connecting rod
135 is hinged with rear forearm 133, and vertical slide 125 pulls downward on rear forearm 133, and rear forearm 133 moves upward.Form double leval jib
Other arm of structure makees corresponding motion.
In sum, the robot palletizer 100 with vertical slide and horizontal slide of the present utility model includes base
110, lumbar device 120, be connected to the arm apparatus 130 of lumbar device 120 and be connected to the handgrip 152 of arm apparatus 130,
Base 110 drives lumbar device 120 to rotate；Lumbar device 120 includes mutually horizontal carriage 121 and vertical carriage 124,
Horizontal carriage 121 includes horizontal slide 122 and drives the horizontal screw lead 123 of horizontal slide 122, vertical carriage
124 include vertical slide 125 and drive the vertical leading screw 126 of vertical slide 125, horizontal carriage 121 and vertically slip
Device 124 is respectively connecting to arm apparatus 130.Horizontal carriage 121 includes horizontal slide 122 and drives horizontal slide
The horizontal screw lead 123 of 122, vertical carriage 124 includes vertical slide 125 and drives the vertical leading screw of vertical slide 124
126。
The robot palletizer 100 with vertical slide and horizontal slide also includes driving the first motor of horizontal screw lead 123
And driving the second motor of vertical leading screw 126, the first motor drives horizontal screw lead by the first variator.Thus by first
The gear ratio that variator regulation needs, can select moment of torsion and the rotating speed of output as required.In rotating start-up course, need
Overcome bigger rotary inertia, the first variator can be regulated to bigger output moment of torsion.After completing start-up course also
When need not relatively large rotating inertia, the first variator can be regulated to less output moment of torsion.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. a robot palletizer with vertical slide and horizontal slide, it is characterised in that it include base, lumbar device,
Being connected to the arm apparatus of described lumbar device and be connected to the handgrip of described arm apparatus, described base drives described waist
Device rotates；Described lumbar device includes that horizontal carriage and vertical carriage, described horizontal carriage include level
Slide and drive the horizontal screw lead of described horizontal slide, described vertical carriage includes vertical slide and drives described perpendicular
The vertical leading screw of straight slide；Described robot palletizer also includes driving the first motor of horizontal screw lead and driving vertical leading screw
Second motor, described first motor drives described horizontal screw lead by the first variator.
The robot palletizer with vertical slide and horizontal slide the most according to claim 1, it is characterised in that described
Two motors drive described vertical leading screw by the second variator.
The robot palletizer with vertical slide and horizontal slide the most according to claim 1, it is characterised in that described hands
Arm assembly includes postbrachium and is hinged to the forearm of one end of described postbrachium.
The robot palletizer with vertical slide and horizontal slide the most according to claim 3, it is characterised in that after described
Arm includes rear large arm and rear forearm spaced with described rear large arm, one end of described rear large arm and the one of described rear forearm
Hold hinged by first connecting rod.
The robot palletizer with vertical slide and horizontal slide the most according to claim 4, it is characterised in that described water
Smooth seat is hinged to described rear large arm.
The robot palletizer with vertical slide and horizontal slide the most according to claim 5, it is characterised in that described perpendicular
Straight slide is hinged to described rear forearm.
The robot palletizer with vertical slide and horizontal slide the most according to claim 6, it is characterised in that described code
Buttress robot includes that waist housing, described horizontal slide are arranged at the top of described waist housing.
The robot palletizer with vertical slide and horizontal slide the most according to claim 7, it is characterised in that described perpendicular
Straight slide is arranged at the sidepiece of described waist housing.
The robot palletizer with vertical slide and horizontal slide the most according to claim 8, it is characterised in that before described
One end of arm is provided with installing rack, and described installing rack connects handgrip.
The robot palletizer with vertical slide and horizontal slide the most according to claim 9, it is characterised in that described
Rear forearm is provided with A-frame with the hinged place of described forearm, and one end of described A-frame is connected by the first auxiliary connecting rod
To described postbrachium, the other end of described A-frame is connected to described installing rack by the second auxiliary connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620795371.8U CN205835341U (en) | 2016-07-26 | 2016-07-26 | A kind of robot palletizer with vertical slide and horizontal slide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620795371.8U CN205835341U (en) | 2016-07-26 | 2016-07-26 | A kind of robot palletizer with vertical slide and horizontal slide |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205835341U true CN205835341U (en) | 2016-12-28 |
Family
ID=57640273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620795371.8U Expired - Fee Related CN205835341U (en) | 2016-07-26 | 2016-07-26 | A kind of robot palletizer with vertical slide and horizontal slide |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205835341U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019404A (en) * | 2018-04-28 | 2018-12-18 | 国家电网公司 | Instrument check equipment transmission device |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
-
2016
- 2016-07-26 CN CN201620795371.8U patent/CN205835341U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019404A (en) * | 2018-04-28 | 2018-12-18 | 国家电网公司 | Instrument check equipment transmission device |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161228 Termination date: 20170726 |