CN206764785U - A kind of five-axle linkage sucker manipulator - Google Patents
A kind of five-axle linkage sucker manipulator Download PDFInfo
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- CN206764785U CN206764785U CN201720292324.6U CN201720292324U CN206764785U CN 206764785 U CN206764785 U CN 206764785U CN 201720292324 U CN201720292324 U CN 201720292324U CN 206764785 U CN206764785 U CN 206764785U
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- 210000000245 forearm Anatomy 0.000 claims abstract description 20
- 241000817702 Acetabula Species 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 52
- 238000007789 sealing Methods 0.000 claims description 24
- 239000003921 oil Substances 0.000 claims description 15
- 239000002199 base oil Substances 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 101000793686 Homo sapiens Azurocidin Proteins 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
A kind of five-axle linkage sucker manipulator is the utility model is related to, belongs to Industrial Robot Technology field.The utility model includes base, I shaft drive, II shaft drive, large arm, III shaft drive, linking arm, IV shaft drive, V shaft drive, forearm and Acetabula device；I shaft drive is arranged on base, II shaft drive is securedly mounted on I shaft drive, large arm one end is connected with II shaft drive, the other end connects III shaft drive, linking arm one end is connected with III shaft drive, and the other end connects IV shaft drive, and V shaft drive is installed on forearm, it is fastenedly connected simultaneously with Acetabula device, forearm is connected to IV shaft drive.The utility model uses five-axle linkage principle, can carry out three-dimensional fix crawl, applied widely；Adsorbable, the transhipment larger work package of frivolous and area, it is practical；Captured using sucker, improve grasp stability and accuracy.
Description
Technical field
A kind of five-axle linkage sucker manipulator is the utility model is related to, belongs to Industrial Robot Technology field.
Background technology
As " industrial 4.0 " concepts are promoted in the world, and made in China 2025 plans also to propose therewith, and its purport exists
In accelerating modernization of industry development process, manufacturing industry intelligence degree is improved, puma manipulator plays act as manufacture field
The foundry robot of sufficient weight status, has been widely used in manufacturing industry every field.Existing manipulator is mainly with single-degree-of-freedom
Based on manipulator and Multi-freedom-degreemanipulator manipulator, single-degree-of-freedom robot manipulator structure is simple, and the scope of application is small；Multi-freedom-degreemanipulator manipulator knot
Structure is complicated, applied widely, can only generally be used in particular job scope, the scope of application has certain limitation；Applying to
Robot on packing production chain, more based on scattered vanning, there is certain drawback in coordinated and operating efficiency, grab simultaneously
Take manipulator can not adapt to the crawl and transhipment of the larger object of frivolous and area.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of five-axle linkage sucker manipulator, individually complete to solve
The problem of moving into high-freedom degree and adapt to the crawl and transhipment of the larger object of frivolous and area.
The technical solution of the utility model is：A kind of five-axle linkage sucker manipulator, including base 1, I shaft drive 2,
II shaft drive 3, large arm 4, III shaft drive 5, linking arm 6, IV shaft drive 7, V shaft drive 8, the and of forearm 9
Acetabula device 10；
I shaft drive 2 is arranged on base 1, and II shaft drive 3 is securedly mounted on I shaft drive 2,
The one end of large arm 4 is arranged on II shaft drive 3, and the other end connects III shaft drive 5, and the one end of linking arm 6 is driven with III axle
Device 5 connects, the other end connect IV shaft drive 7, V shaft drive 8 be installed on forearm 9 and meanwhile with Acetabula device 10
It is fastenedly connected, forearm 9 is installed on IV shaft drive 7.
I shaft drive 2 includes I spindle motor 11, connection end cap 12, large arm mounting seat 13, base oil sealing 14, base
Under upper bearing (metal) 15, back seat gasket 16, base upper end cover 17, base main shaft 18, worm screw 19, worm gear 20, base lower bearing 21, base
End cap 22；
I spindle motor 11 is fastened in connection end cap 12 with screw, and connection end cap 12 is arranged on the side of base 1,
The one end of worm screw 19 is connected with I spindle motor 11, and the other end engages with worm gear 20, and base bottom end cover 22 is securedly mounted on base 1, bottom
Seat main shaft 18 is arranged on base bottom end cover 22, base lower bearing 21 and the coaxial cooperation of base main shaft 18 and is arranged on its lower end,
Worm gear 20 engages installation with the coaxial cooperation of base main shaft 18 and with worm screw 19, back seat gasket 16 and the coaxial cooperation of base main shaft 18 and
It is installed between base 1 and base upper end cover 17, base upper bearing (metal) 15 and the coaxial cooperation of base main shaft 18, installed in base main shaft
18 tops, base oil sealing 14 are close to close with large arm mounting seat 13, are installed on base bearing 15, base upper end cover 17 and base master
The coaxial cooperation of axle 18 and it is fastenedly connected with base 1, large arm mounting seat 13 and base main shaft 18 are coaxial, while are installed on base oil sealing
On 14.
II shaft drive 3 includes the left motor 23 of II axle, the left connection end cap 24 of II axle, II axle power transmission shaft 25, II axle
The right motor 27 of the right axle of connection end cap 26 and II；
The left motor 23 of II axle is fastenedly connected in the left connection end cap 24 of II axle with screw, and the left connection end cap 24 of II axle is tight
It is connected and is connected to the left side of large arm mounting seat 13, the right motor 27 of II axle is fastenedly connected in II axle or so connection end cap 26 with screw, and II
The right connection end cap 26 of axle is fastenedly connected in the right side of large arm mounting seat 13, II axle power transmission shaft 25 or so respectively motor 23 left with II axle and
The right motor 27 of II axle is connected, and large arm 4 is installed on II axle power transmission shaft 25.
III shaft drive 5 includes III spindle motor 28, the right connection end cap 29 of III axle, III axle right-hand member bearing 30, III axle
Right-hand member oil sealing 31, III axle power transmission shaft 32, III axle left end oil sealing 33, III axle left end bearing 34 and III axle left end bearing cap 35；
III spindle motor 28 is fastened in the right connection end cap 29 of III axle with screw, and the right connection end cap 29 of III axle fastens
Connect large arm 4, III axle power transmission shaft 32 is connected with III spindle motor 28, III axle right-hand member bearing 30 and the coaxial cooperation of III axle power transmission shaft 32 and
It is installed on III axle power transmission shaft 32, left and right is bonded with III axle right-hand member oil sealing 31 and the right connection end cap 29 of III axle respectively, III axle left end
The coaxial cooperation of 34 and III axle power transmission shaft of bearing 32 and be installed on III axle power transmission shaft 32, left and right respectively with III axle left end bearing cap 35
It is bonded with III axle left end oil sealing 33, III axle left end bearing cap 35 is fastened in large arm 4 by screw.
IV shaft drive 7 includes IV spindle motor 36, IV axle left end connection end cap 37, IV axle left end bearing 38, IV
Axle power transmission shaft 39, IV axle right-hand member bearing 40 and IV axle right-hand member connection end cap 41；
IV spindle motor 36 is fastenedly connected tight in IV axle left end connection end cap 37, IV axle left end connection end cap 37 with screw
On the left of the one end of linking arm 6, IV axle power transmission shaft 39 is connected with IV spindle motor 36 for Guan County, and IV axle left end bearing 38 and IV axle are driven
The coaxial cooperation of axle 39 and it is installed on IV axle power transmission shaft 39, while IV axle power transmission shaft 39 is fastenedly connected with forearm 9, IV axle right-hand member axle
Hold 40 and the coaxial cooperation of IV axle power transmission shaft 39 and be installed on IV axle power transmission shaft 39, IV axle right-hand member connection end cap 41 be fastenedly connected in
On the right side of the one end of linking arm 6.
V shaft drive 8 includes V spindle motor 42 and V axle rotary shaft 43；
V spindle motor 42 is fastened on forearm 9, and V axle rotary shaft 43 is connected with V spindle motor 42.
The Acetabula device 10 includes connecting rod 44, driving sucker 45 and sucker mounting bracket 46；
Described one end of connecting rod 44 and V axle rotary shaft, 43 tight bolt connection, the other end are close to sucker mounting bracket 46 and connect,
Sucker 45 is driven to be arranged on four angles of sucker mounting bracket 46.
Operation principle of the present utility model is：Manipulator is fixedly mounted on flow production line entirely through base 1, is completed
Assigned work；Base main shaft 18 is controlled to rotate so as to drive large arm mounting seat 13 to rotate by I spindle motor in I shaft drive 2
Complete the first free degree task；Pass through the right axle power transmission shaft of 27 Synchronization Control of motor II of the left axle of motor 23 and II of II axle in II axle
25 rotate, and drive large arm 4 to complete second free degree and rotate；III axle power transmission shaft 32 is controlled to rotate by III spindle motor 28 in III axle,
Rotated so as to drive linking arm 6 to complete Three Degree Of Freedom；IV axle drive axis is controlled by IV spindle motor 36 in IV axle, so as to
Drive forearm 9 to complete four-degree-of-freedom to rotate；V spindle motor 42 can control V axle rotary shaft to rotate, so as to control Acetabula device 10
Rotate, complete five degree of freedom task；Acetabula device 10 is by driving sucker 45 to specifying thin plate and work package to complete to inhale
Take action；Manipulator coordinates control driving sucker 10 to draw, target workpiece can be carried out to be accurately positioned suction by five-axle linkage
Take, and transport placement action.
The beneficial effects of the utility model are：
1st, using five-axle linkage principle, three-dimensional fix crawl can be carried out, it is applied widely；
2nd, adsorbable, the transhipment larger work package of frivolous and area, it is practical；
3rd, captured using sucker, improve grasp stability and accuracy.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is I shaft drive internal structure schematic diagram of the present utility model；
Fig. 3 is II shaft drive structural representation of the present utility model；
Fig. 4 is III shaft drive structural representation of the present utility model；
Fig. 5 is IV shaft drive structural representation of the present utility model；
Fig. 6 is V shaft drive structural representation of the present utility model；
Fig. 7 is Acetabula device structural representation of the present utility model.
In figure：1- bases, the shaft drives of 2- I, the shaft drives of 3- II, 4- large arm, the shaft drives of 5- III, 6- connections
Arm, the shaft drives of 7- IV, the shaft drives of 8- V, 9- forearms, 10- Acetabula devices, the spindle motors of 11- I, 12- connection end caps,
13- large arm mounting seat, 14- bases oil sealing, 15- bases upper bearing (metal), 16- back seat gaskets, 17- bases upper end cover, 18- base masters
Axle, 19- worm screws, 20- worm gears, 21- bases lower bearing, 22- bases bottom end cover, the left motor of the axles of 23- II, the left connection end of the axles of 24- II
Lid, the axle power transmission shafts of 25- II, the right connection end cap of the axles of 26- II, the right motor of the axles of 27- II, the spindle motors of 28- III, the right connection end of the axles of 29- III
Lid, the axle right-hand member bearings of 30- III, the axle right-hand member oil sealings of 31- III, the axle power transmission shafts of 32- III, the axle left end oil sealings of 33- III, the axle left ends of 34- III
Bearing, the axle left end bearing caps of 35- III, the spindle motors of 36- IV, the axle left end connection end caps of 37- IV, 38 IV axle left end bearings, the axles of 39- IV
Power transmission shaft, the axle right-hand member bearings of 40- IV, the axle right-hand member connection end caps of 41- IV, the spindle motors of 42- V, the axle rotary shafts of 43- V, 44- connections
Bar, 45- drivings sucker, 46 sucker mounting brackets.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：As shown in figs. 1-7, a kind of five-axle linkage sucker manipulator, including base 1, I shaft drive 2, II
Shaft drive 3, large arm 4, III shaft drive 5, linking arm 6, IV shaft drive 7, V shaft drive 8, forearm 9 and suction
Disk device 10；
I shaft drive 2 is arranged on base 1, and II shaft drive 3 is securedly mounted on I shaft drive 2,
The one end of large arm 4 is arranged on II shaft drive 3, and the other end connects III shaft drive 5, and the one end of linking arm 6 is driven with III axle
Device 5 connects, the other end connect IV shaft drive 7, V shaft drive 8 be installed on forearm 9 and meanwhile with Acetabula device 10
It is fastenedly connected, forearm 9 is installed on IV shaft drive 7.
I shaft drive 2 includes I spindle motor 11, connection end cap 12, large arm mounting seat 13, base oil sealing 14, base
Under upper bearing (metal) 15, back seat gasket 16, base upper end cover 17, base main shaft 18, worm screw 19, worm gear 20, base lower bearing 21, base
End cap 22；
I spindle motor 11 is fastened in connection end cap 12 with screw, and connection end cap 12 is arranged on the side of base 1,
The one end of worm screw 19 is connected with I spindle motor 11, and the other end engages with worm gear 20, and base bottom end cover 22 is securedly mounted on base 1, bottom
Seat main shaft 18 is arranged on base bottom end cover 22, base lower bearing 21 and the coaxial cooperation of base main shaft 18 and is arranged on its lower end,
Worm gear 20 engages installation with the coaxial cooperation of base main shaft 18 and with worm screw 19, back seat gasket 16 and the coaxial cooperation of base main shaft 18 and
It is installed between base 1 and base upper end cover 17, base upper bearing (metal) 15 and the coaxial cooperation of base main shaft 18, installed in base main shaft
18 tops, base oil sealing 14 are close to close with large arm mounting seat 13, are installed on base bearing 15, base upper end cover 17 and base master
The coaxial cooperation of axle 18 and it is fastenedly connected with base 1, large arm mounting seat 13 and base main shaft 18 are coaxial, while are installed on base oil sealing
On 14.
II shaft drive 3 includes the left motor 23 of II axle, the left connection end cap 24 of II axle, II axle power transmission shaft 25, II axle
The right motor 27 of the right axle of connection end cap 26 and II；
The left motor 23 of II axle is fastenedly connected in the left connection end cap 24 of II axle with screw, and the left connection end cap 24 of II axle is tight
It is connected and is connected to the left side of large arm mounting seat 13, the right motor 27 of II axle is fastenedly connected in II axle or so connection end cap 26 with screw, and II
The right connection end cap 26 of axle is fastenedly connected in the right side of large arm mounting seat 13, II axle power transmission shaft 25 or so respectively motor 23 left with II axle and
The right motor 27 of II axle is connected, and large arm 4 is installed on II axle power transmission shaft 25.
III shaft drive 5 includes III spindle motor 28, the right connection end cap 29 of III axle, III axle right-hand member bearing 30, III axle
Right-hand member oil sealing 31, III axle power transmission shaft 32, III axle left end oil sealing 33, III axle left end bearing 34 and III axle left end bearing cap 35；
III spindle motor 28 is fastened in the right connection end cap 29 of III axle with screw, and the right connection end cap 29 of III axle fastens
Connect large arm 4, III axle power transmission shaft 32 is connected with III spindle motor 28, III axle right-hand member bearing 30 and the coaxial cooperation of III axle power transmission shaft 32 and
It is installed on III axle power transmission shaft 32, left and right is bonded with III axle right-hand member oil sealing 31 and the right connection end cap 29 of III axle respectively, III axle left end
The coaxial cooperation of 34 and III axle power transmission shaft of bearing 32 and be installed on III axle power transmission shaft 32, left and right respectively with III axle left end bearing cap 35
It is bonded with III axle left end oil sealing 33, III axle left end bearing cap 35 is fastened in large arm 4 by screw.
IV shaft drive 7 includes IV spindle motor 36, IV axle left end connection end cap 37, IV axle left end bearing 38, IV
Axle power transmission shaft 39, IV axle right-hand member bearing 40 and IV axle right-hand member connection end cap 41；
IV spindle motor 36 is fastenedly connected tight in IV axle left end connection end cap 37, IV axle left end connection end cap 37 with screw
On the left of the one end of linking arm 6, IV axle power transmission shaft 39 is connected with IV spindle motor 36 for Guan County, and IV axle left end bearing 38 and IV axle are driven
The coaxial cooperation of axle 39 and it is installed on IV axle power transmission shaft 39, while IV axle power transmission shaft 39 is fastenedly connected with forearm 9, IV axle right-hand member axle
Hold 40 and the coaxial cooperation of IV axle power transmission shaft 39 and be installed on IV axle power transmission shaft 39, IV axle right-hand member connection end cap 41 be fastenedly connected in
On the right side of the one end of linking arm 6.
V shaft drive 8 includes V spindle motor 42 and V axle rotary shaft 43；
V spindle motor 42 is fastened on forearm 9, and V axle rotary shaft 43 is connected with V spindle motor 42.
The Acetabula device 10 includes connecting rod 44, driving sucker 45 and sucker mounting bracket 46；
Described one end of connecting rod 44 and V axle rotary shaft, 43 tight bolt connection, the other end are close to sucker mounting bracket 46 and connect,
Sucker 45 is driven to be arranged on four angles of sucker mounting bracket 46.
Specific embodiment of the present utility model is explained in detail above in association with accompanying drawing, but the utility model is not
It is limited to above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (7)
- A kind of 1. five-axle linkage sucker manipulator, it is characterised in that：Including base（1）, I shaft drive（2）, II axle transmission dress Put（3）, large arm（4）, III shaft drive（5）, linking arm（6）, IV shaft drive（7）, V shaft drive（8）, forearm （9）And Acetabula device（10）；I shaft drive（2）Installed in base（1）On, II shaft drive（3）It is securedly mounted to I shaft drive（2） On, large arm（4）One end is arranged on II shaft drive（3）On, the other end connects III shaft drive（5）, linking arm（6）One end With III shaft drive（5）Connection, the other end connect IV shaft drive（7）, V shaft drive（8）It is installed on forearm（9） Upper while and Acetabula device（10）It is fastenedly connected, forearm（9）It is installed on IV shaft drive（7）On.
- 2. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：I shaft drive（2）Including I spindle motor（11）, connection end cap（12）, large arm mounting seat（13）, base oil sealing（14）, base upper bearing (metal)（15）, back seat gasket （16）, base upper end cover（17）, base main shaft（18）, worm screw（19）, worm gear（20）, base lower bearing（21）, base bottom end cover （22）；I spindle motor（11）Connection end cap is fastened on screw（12）On, connection end cap（12）Installed in base（1）One Side, worm screw（19）One end and I spindle motor（11）It is connected, the other end and worm gear（20）Engagement, base bottom end cover（22）Fastening installation In base（1）On, base main shaft（18）Installed in base bottom end cover（22）On, base lower bearing（21）With base main shaft（18）Together Axle coordinates and is arranged on its lower end, worm gear（20）With base main shaft（18）Coaxial cooperation and and worm screw（19）Engagement installation, base Packing ring（16）With base main shaft（18）Coaxial cooperation and it is installed on base（1）With base upper end cover（17）Between, base upper bearing (metal) （15）With base main shaft（18）Coaxial cooperation, installed in base main shaft（18）Top, base oil sealing（14）With large arm mounting seat （13）It is close to close, is installed on base bearing（15）On, base upper end cover（17）With base main shaft（18）Coaxial cooperation and and base （1）It is fastenedly connected, large arm mounting seat（13）With base main shaft（18）Coaxially, while it is installed on base oil sealing（14）On.
- 3. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：II shaft drive（3）Bag Include the left motor of II axle（23）, the left connection end cap of II axle（24）, II axle power transmission shaft（25）, the right connection end cap of II axle（26）It is right with II axle Motor（27）；The left motor of II axle（23）It is fastenedly connected with screw in the left connection end cap of II axle（24）On, the left connection end cap of II axle（24） It is fastenedly connected in large arm mounting seat（13）Left side, the right motor of II axle（27）It is fastenedly connected with screw in II axle or so connection end cap （26）On, the right connection end cap of II axle（26）It is fastenedly connected in large arm mounting seat（13）Right side, II axle power transmission shaft（25）Distinguish left and right With the left motor of II axle（23）With the right motor of II axle（27）It is connected, large arm（4）It is installed on II axle power transmission shaft（25）On.
- 4. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：III shaft drive（5）Bag Include III spindle motor（28）, the right connection end cap of III axle（29）, III axle right-hand member bearing（30）, III axle right-hand member oil sealing（31）, III axle transmission Axle（32）, III axle left end oil sealing（33）, III axle left end bearing（34）With III axle left end bearing cap（35）；III spindle motor（28）The right connection end cap of III axle is fastened on screw（29）On, the right connection end cap of III axle（29）Tightly It is solidly connected large arm（4）, III axle power transmission shaft（32）With III spindle motor（28）Connection, III axle right-hand member bearing（30）With III axle power transmission shaft （32）Coaxial cooperation and it is installed on III axle power transmission shaft（32）On, left and right respectively with III axle right-hand member oil sealing（31）With the right connection end of III axle Lid（29）Fitting, III axle left end bearing（34）With III axle power transmission shaft（32）Coaxial cooperation and it is installed on III axle power transmission shaft（32）On, Left and right respectively with III axle left end bearing cap（35）With III axle left end oil sealing（33）Fitting, III axle left end bearing cap（35）Pass through screw It is fastened on large arm（4）On.
- 5. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：IV shaft drive（7）Bag Include IV spindle motor（36）, IV axle left end connection end cap（37）, IV axle left end bearing（38）, IV axle power transmission shaft（39）, IV axle right-hand member Bearing（40）With IV axle right-hand member connection end cap（41）；IV spindle motor（36）It is fastenedly connected with screw in IV axle left end connection end cap（37）, IV axle left end connection end cap（37） It is securedly mounted to linking arm（6）On the left of one end, IV axle power transmission shaft（39）With IV spindle motor（36）Connection, IV axle left end bearing（38） With IV axle power transmission shaft（39）Coaxial cooperation and it is installed on IV axle power transmission shaft（39）On, while IV axle power transmission shaft（39）With forearm（9） It is fastenedly connected, IV axle right-hand member bearing（40）With IV axle power transmission shaft（39）Coaxial cooperation and it is installed on IV axle power transmission shaft（39）On, IV Axle right-hand member connection end cap（41）It is fastenedly connected in linking arm（6）On the right side of one end.
- 6. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：V shaft drive（8）Bag Include V spindle motor（42）With V axle rotary shaft（43）；V spindle motor（42）It is fastened on forearm（9）On, V axle rotary shaft（43）With V spindle motor（42）Connection.
- 7. five-axle linkage sucker manipulator according to claim 1, it is characterised in that：The Acetabula device（10）Including even Extension bar（44）, driving sucker（45）With sucker mounting bracket（46）；The connecting rod（44）One end and V axle rotary shaft（43）Tight bolt connection, the other end and sucker mounting bracket（46）It is close to Connect, drive sucker（45）Installed in sucker mounting bracket（46）Four angles on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292324.6U CN206764785U (en) | 2017-03-24 | 2017-03-24 | A kind of five-axle linkage sucker manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292324.6U CN206764785U (en) | 2017-03-24 | 2017-03-24 | A kind of five-axle linkage sucker manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764785U true CN206764785U (en) | 2017-12-19 |
Family
ID=60633751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292324.6U Expired - Fee Related CN206764785U (en) | 2017-03-24 | 2017-03-24 | A kind of five-axle linkage sucker manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764785U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863288A (en) * | 2017-03-24 | 2017-06-20 | 昆明理工大学 | A kind of five-axle linkage sucker manipulator |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
-
2017
- 2017-03-24 CN CN201720292324.6U patent/CN206764785U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863288A (en) * | 2017-03-24 | 2017-06-20 | 昆明理工大学 | A kind of five-axle linkage sucker manipulator |
| CN106863288B (en) * | 2017-03-24 | 2021-05-14 | 昆明理工大学 | Five-axis linkage sucker manipulator |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20190324 |
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| CF01 | Termination of patent right due to non-payment of annual fee |