CN207593800U - A kind of automatic mechanical arm transmission mechanism - Google Patents
A kind of automatic mechanical arm transmission mechanism Download PDFInfo
- Publication number
- CN207593800U CN207593800U CN201721307384.7U CN201721307384U CN207593800U CN 207593800 U CN207593800 U CN 207593800U CN 201721307384 U CN201721307384 U CN 201721307384U CN 207593800 U CN207593800 U CN 207593800U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- fixedly connected
- transmission case
- worm gear
- groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of automatic mechanical arm transmission mechanisms, are related to mechanical arm technical field.The automatic mechanical arm transmission mechanism, including transmission case, the inside of the transmission case is fixedly connected with transverse slat, the upper surface of the transverse slat is fixedly connected with driving motor, the output shaft of the driving motor is fixedly connected with worm screw by shaft coupling, the worm screw is equipped with the first groove, the upside of the worm screw is equipped with worm gear, the worm gear is equipped with the second groove being adapted with the first groove, the first groove of the worm screw is engaged with the second groove of worm gear, the one end of the worm screw far from driving motor extends to the outside of transmission case and is fixedly connected with driving wheel, the surface of the driving wheel is equipped with driven wheel.The automatic mechanical arm transmission mechanism, solves existing for mechanical arm transmission mechanism, and compactedness is poor, and bearing capacity is relatively low, and self-locking performance is poor, and transmission is unstable, and noise is big, the problem of being unfavorable for promoting the use of.
Description
Technical field
The utility model is related to mechanical arm technical field, specially a kind of automatic mechanical arm transmission mechanism.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they all there are one it is common the characteristics of, be to receive instruction, be precisely positioned to three-dimensional
The certain point of (or two dimension) spatially carries out operation.Mechanical arm is divided into multi-joint manipulator arm according to the difference of structure type,
Rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc..Common six
Free degree manipulator arm has X movements, Y movements, Z movements, X rotations, Y rotations, Z rotation six-freedom degree compositions.It is horizontal articulated
Generally there are three main degree of freedom, Z1 rotations, Z2 rotations, Z movements for mechanical arm.By performing terminal installation X rotations, Y rotations
Any coordinate points in space can be reached.There are three main degree of freedom for rectangular coordinate system mechanical arm.X is moved, Y movements, Z movements
Composition, by performing terminal installation X rotations, Y rotations, Z rotations can reach any coordinate points in space.
At present, existing for mechanical arm transmission mechanism, compactedness is poor, and bearing capacity is relatively low, and self-locking performance is poor, passes
Dynamic unstable, noise is big, is unfavorable for promoting the use of.
Utility model content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the utility model provides a kind of automatic mechanical arm transmission mechanism, solves
Existing to be used for mechanical arm transmission mechanism, compactedness is poor, and bearing capacity is relatively low, and self-locking performance is poor, is driven unstable, noise
Greatly, the problem of being unfavorable for promoting the use of.
(2) technical solution
In order to achieve the above object, the utility model is achieved by the following technical programs：A kind of automatic mechanical arm
Transmission mechanism, including transmission case, the inside of the transmission case is fixedly connected with transverse slat, and the upper surface of the transverse slat is fixedly connected with
Driving motor, the output shaft of the driving motor are fixedly connected with worm screw by shaft coupling, and the worm screw is equipped with the first groove,
The upside of the worm screw is equipped with worm gear, and the worm gear is equipped with the second groove for being adapted with the first groove, and the of the worm screw
One groove is engaged with the second groove of worm gear.
The one end of the worm screw far from driving motor extends to the outside of transmission case and is fixedly connected with driving wheel, the master
The surface of driving wheel is equipped with driven wheel, is fixedly connected with the first universal driving shaft on the driven wheel, first universal driving shaft far from from
One end of driving wheel is movably connected in by clutch shaft bearing on the outer wall of transmission case, and the driving wheel is passed by transmission belt and driven wheel
Dynamic connection, side of the driven wheel far from the first universal driving shaft is fixedly connected with the first mechanical arm, institute by the first fixed block
The other end for stating the first mechanical arm is fixedly connected with the first turntable, the one side of first turntable far from the first mechanical arm
Cross bar there are two being fixedly connected.
It is fixedly connected on the worm gear there are two the second mechanical arm, the front of the transmission case offers and the second machinery
The corresponding annular through-hole in arm position, two second mechanical arms extend to the outer of transmission case by annular through-hole
Portion, each described one end of second mechanical arm far from worm gear have been fixedly connected with the second turntable, the appearance of second turntable
Triangular blade is fixedly connected on face, is fixedly connected with the second universal driving shaft in the middle part of the worm gear, the two of second universal driving shaft
End is flexibly connected by second bearing with the tank wall of transmission case.
Preferably, the downside of the transverse slat is equipped with damp-proof layer, which is melamine plate moist-proof board.
Preferably, the outer sheath of the driving wheel and driven wheel is equipped with protective cover, which is honeycomb sound-absorbing
Cover.
Preferably, the front of the transmission case is hinged with cover board by axis pin, and the bottom of the cover board is clamped by fixture block
In the positive card slot of transmission case.
Preferably, one side of the driving motor far from worm gear is fixed by the madial wall of the second fixed block and transmission case
It is connected.
(3) advantageous effect
The utility model provides a kind of automatic mechanical arm transmission mechanism, has following advantageous effect：
(1), the automatic mechanical arm transmission mechanism, under the driving of driving motor, the first groove and worm gear of worm screw
The second groove engagement, two the second mechanical arms can be driven to work, on the one hand, very big gearratio can be obtained, than
Crossed helical gears mechanism is compact, on the other hand, is contacted between worm and worm wheel mesh tooth face for line, bearing capacity is higher than significantly
Crossed helical gears mechanism, secondly, worm-drive is equivalent to worm drive, is multiple tooth engaged transmission, therefore stable drive, noise are very
Small, in addition, when the lead angle of worm screw is less than the equivalent friction angle between engaging worm wheel, mechanism has self-locking performance, it can be achieved that reversely
Self-locking can only be driven worm gear by worm screw, and worm screw cannot be driven by worm gear, such as be used in automatic mechanical arm transmission,
Its reverse self-locking can play safeguard protection, solve existing for mechanical arm transmission mechanism, and compactedness is poor, carrying
Ability is relatively low, and self-locking performance is poor, and transmission is unstable, and noise is big, the problem of being unfavorable for promoting the use of.
(2), the automatic mechanical arm transmission mechanism, under the driving of driving motor, driving wheel by transmission belt with from
Driving wheel is sequentially connected, and the first mechanical arm can be driven to work, on the one hand, stable movement noiseless, can with shock absorbing and
Absorbing, on the other hand, manufacture and installation are simple, easy to maintain, and secondly, overload is skidded, and can be shielded, be made conducive to popularization
With.
(3), automatic mechanical arm transmission mechanism, on the one hand, the downside of transverse slat is equipped with damp-proof layer, which is three
Poly cyanamid plate moist-proof board can play the bottom of transmission case good moisture-proof role, effectively avoid the Machinery Ministry in transmission case
Part makes moist, and on the other hand, the outer sheath of driving wheel and driven wheel is equipped with protective cover, which is honeycomb sound-absorbing cover,
With good sound-absorbing effect, noise pollution can be reduced, secondly, the front of transmission case is hinged with cover board, cover board by axis pin
Bottom be connected in the positive card slot of transmission case by fixture block, transmission case can be easy to open by cover board, convenient for transmission case
Interior mechanical part is repaired and is maintained, conducive to promoting the use of.
Description of the drawings
Fig. 1 is the utility model internal structure schematic diagram；
Fig. 2 is the utility model front view；
Fig. 3 is the attachment structure schematic diagram of the utility model worm gear.
In figure：1 transmission case, 2 transverse slats, 3 driving motors, 4 shaft couplings, 5 worm screws, 501 first grooves, 6 worm gears, 601 second
Groove, 7 driving wheels, 8 driven wheels, 9 first universal driving shafts, 10 clutch shaft bearings, 11 transmission belts, 12 first fixed blocks, 13 first machineries
Arm, 14 first turntables, 15 cross bars, 16 second mechanical arms, 17 annular through-holes, 18 second turntables, 19 triangular blades, 20 second
Universal driving shaft, 21 second bearings, 22 damp-proof layers, 23 protective covers, 24 axis pins, 25 cover boards, 26 fixture blocks, 27 second fixed blocks.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, purport
For explaining the utility model, and it is not intended that limitation to the utility model.
In the description of the present invention, it is to be appreciated that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable
The orientation or position relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " are based on orientation shown in the drawings
Or position relationship, be for only for ease of description the utility model and simplify description rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the utility model
System.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature." multiple " are meant that two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the utility model unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be
Mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, can be two
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands concrete meaning of the above-mentioned term in the utility model.
- 3 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of automatic mechanical arm transmission mechanism, packet
Transmission case 1 is included, the inside of transmission case 1 is fixedly connected with transverse slat 2, and the upper surface of transverse slat 2 is fixedly connected with driving motor 3, driving
One side of the motor 3 far from worm gear 6 is fixedly linked by the madial wall of the second fixed block 27 and transmission case 1, driving motor 3 it is defeated
Shaft is fixedly connected with worm screw 5 by shaft coupling 4, and worm screw 5 is equipped with the first groove 501, and the upside of worm screw 5 is equipped with worm gear 6, snail
Wheel 6 is equipped with the second groove 601 being adapted with the first groove 501, the second groove of the first groove 501 and worm gear 6 of worm screw 5
601 engagements, driving motor 3 drive worm screw 5 to rotate, and worm screw 5 drives worm gear 6 to rotate, and worm gear 6 drives two the second mechanical arms 16
Rotation work.
The one end of worm screw 5 far from driving motor 3 extends to the outside of transmission case 1 and is fixedly connected with driving wheel 7, driving wheel
7 surface is equipped with driven wheel 8, is fixedly connected with the first universal driving shaft 9 on driven wheel 8, the first universal driving shaft 9 is far from driven wheel 8
One end is movably connected in by clutch shaft bearing 10 on the outer wall of transmission case 1, and driving wheel 7 is driven by transmission belt 11 and driven wheel 8
Connection, side of the driven wheel 8 far from the first universal driving shaft 9 are fixedly connected with the first mechanical arm 13 by the first fixed block 12, the
The other end of one mechanical arm 13 is fixedly connected with the first turntable 14, side of first turntable 14 far from the first mechanical arm 13
Face is fixedly connected there are two cross bar 15, and driving motor 3 drives worm screw 5 to rotate, and worm screw 5 drives driving wheel 7 to rotate, and driving wheel 7 is logical
Crossing transmission belt 11 drives driven wheel 8 to rotate, and driven wheel 8 drives 13 rotation work of the first mechanical arm.
Second mechanical arm 16 there are two being fixedly connected on worm gear 6, the front of transmission case 1 offers and the second mechanical arm
The corresponding annular through-hole 17 in 16 positions, two the second mechanical arms 16 extend to the outer of transmission case 1 by annular through-hole 17
Portion, each one end of second mechanical arm 16 far from worm gear 6 have been fixedly connected with the second turntable 18, the outer surface of the second turntable 18
On be fixedly connected with triangular blade 19, the middle part of worm gear 6 is fixedly connected with the second universal driving shaft 20, and the both ends of the second universal driving shaft 20 are equal
It is flexibly connected by second bearing 21 with the tank wall of transmission case 1.
The downside of transverse slat 2 is equipped with damp-proof layer 22, which is melamine plate moist-proof board, can be to transmission case 1
Good moisture-proof role is played in bottom, and the mechanical part in transmission case 1 is effectively avoided to make moist.
The outer sheath of driving wheel 7 and driven wheel 8 is equipped with protective cover 23, which is honeycomb sound-absorbing cover, is had
There is good sound-absorbing effect, noise pollution can be reduced.
The front of transmission case 1 is hinged with cover board 25 by axis pin 24, and the bottom of cover board 25 is connected to transmission by fixture block 26
In 1 positive card slot of case, transmission case 1 can be easy to open by cover board 25, convenient for being repaired to the mechanical part in transmission case 1
And maintenance.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating currents, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
In conclusion the automatic mechanical arm transmission mechanism, under the driving of driving motor 3, the first tooth of worm screw 5
Line 501 is engaged with the second groove 601 of worm gear 6, two the second mechanical arms 16 can be driven to work, on the one hand, can obtain
It is compacter than crossed helical gears mechanism to very big gearratio, on the other hand, connect between 6 mesh tooth face of worm screw 5 and worm gear for line
It touches, for bearing capacity significantly higher than crossed helical gears mechanism, secondly, the transmission of worm screw 5 is equivalent to worm drive, is multiple tooth engagement
Transmission, therefore stable drive, noise very little, in addition, when the lead angle of worm screw 5 is less than the equivalent friction angle between engaging worm wheel 6, machine
Structure has self-locking performance, it can be achieved that reverse self-locking, i.e., can only be driven worm gear by worm screw, and worm screw cannot be driven by worm gear, such as certainly
It is used in the transmission of dynamicization mechanical arm, reverse self-locking can play safeguard protection, solve existing for mechanical arm
Transmission mechanism, compactedness is poor, and bearing capacity is relatively low, and self-locking performance is poor, and transmission is unstable, and noise is big, is unfavorable for promoting the use of
The problem of.
Also, under the driving of driving motor 3, driving wheel 7 is sequentially connected by transmission belt 11 and driven wheel 8, can be driven
First mechanical arm 13 works, on the one hand, stable movement noiseless, can be with shock absorbing and absorbing, on the other hand, and manufacture
Simple with installation, easy to maintain, secondly, overload is skidded, and can be shielded, conducive to promoting the use of.
And, on the one hand, the downside of transverse slat 2 is equipped with damp-proof layer 22, which is melamine plate moist-proof board, can
Good moisture-proof role is played to the bottom of transmission case 1, the mechanical part in transmission case 1 is effectively avoided to make moist, it is on the other hand, main
The outer sheath of driving wheel 7 and driven wheel 8 is equipped with protective cover 23, which is honeycomb sound-absorbing cover, has and inhales well
Audio fruit can reduce noise pollution, and secondly, the front of transmission case 1 is hinged with cover board 25, the bottom of cover board 25 by axis pin 24
It is connected in 1 positive card slot of transmission case by fixture block 26, transmission case 1 can be easy to open by cover board 25, convenient for transmission case
Mechanical part in 1 is repaired and is maintained, conducive to promoting the use of.
It should be noted that in the utility model unless specifically defined or limited otherwise, fisrt feature is in the second spy
Can be that the first and second features are in direct contact or the first and second features are connect indirectly by intermediary "above" or "below" sign
It touches.Moreover, fisrt feature second feature " on ", " top " and " above " but fisrt feature right over second feature or
Oblique upper is merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section "
" following " can be fisrt feature immediately below second feature or obliquely downward or be merely representative of fisrt feature level height and be less than
Second feature.
In the description of this specification, reference term " one embodiment ", " example ", " is specifically shown " some embodiments "
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
It states and may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It is combined in an appropriate manner in any one or more embodiments or example.
The preferable specific embodiment of the above, only the utility model, but the scope of protection of the utility model is not
This is confined to, in the technical scope that any one skilled in the art discloses in the utility model, according to this practicality
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (5)
1. a kind of automatic mechanical arm transmission mechanism, including transmission case（1）, it is characterised in that：The transmission case（1）Inside
It is fixedly connected with transverse slat（2）, the transverse slat（2）Upper surface be fixedly connected with driving motor（3）, the driving motor（3）'s
Output shaft passes through shaft coupling（4）It is fixedly connected with worm screw（5）, the worm screw（5）It is equipped with the first groove（501）, the worm screw
（5）Upside be equipped with worm gear（6）, the worm gear（6）It is equipped with and the first groove（501）The second groove being adapted（601）, institute
State worm screw（5）The first groove（501）With worm gear（6）The second groove（601）Engagement；
The worm screw（5）Far from driving motor（3）One end extend to transmission case（1）Outside and be fixedly connected with driving wheel
（7）, the driving wheel（7）Surface be equipped with driven wheel（8）, the driven wheel（8）On be fixedly connected with the first universal driving shaft
（9）, first universal driving shaft（9）Far from driven wheel（8）One end pass through clutch shaft bearing（10）It is movably connected in transmission case（1）'s
On outer wall, the driving wheel（7）Pass through transmission belt（11）With driven wheel（8）It is sequentially connected, the driven wheel（8）Far from first
Moving axis（9）Side pass through the first fixed block（12）It is fixedly connected with the first mechanical arm（13）, first mechanical arm
（13）The other end be fixedly connected with the first turntable（14）, first turntable（14）Far from the first mechanical arm（13）Side
Face is fixedly connected there are two cross bar（15）；
The worm gear（6）On be fixedly connected there are two the second mechanical arm（16）, the transmission case（1）Front offer and the
Two mechanical arms（16）The corresponding annular through-hole in position（17）, two second mechanical arms（16）Pass through annular through-hole
（17）Extend to transmission case（1）Outside, each second mechanical arm（16）Far from worm gear（6）One end be fixedly connected with
There is the second turntable（18）, second turntable（18）Outer surface on be fixedly connected with triangular blade（19）, the worm gear（6）'s
Middle part is fixedly connected with the second universal driving shaft（20）, second universal driving shaft（20）Both ends pass through second bearing（21）With transmission
Case（1）Tank wall flexible connection.
2. a kind of automatic mechanical arm transmission mechanism according to claim 1, it is characterised in that：The transverse slat（2）'s
Downside is equipped with damp-proof layer（22）, the damp-proof layer（22）For melamine plate moist-proof board.
3. a kind of automatic mechanical arm transmission mechanism according to claim 1, it is characterised in that：The driving wheel（7）
And driven wheel（8）Outer sheath be equipped with protective cover（23）, the protective cover（23）For honeycomb sound-absorbing cover.
4. a kind of automatic mechanical arm transmission mechanism according to claim 1, it is characterised in that：The transmission case（1）
Front pass through axis pin（24）It is hinged with cover board（25）, the cover board（25）Bottom pass through fixture block（26）It is connected to transmission case
（1）In positive card slot.
5. a kind of automatic mechanical arm transmission mechanism according to claim 1, it is characterised in that：The driving motor
（3）Far from worm gear（6）One side pass through the second fixed block（27）With transmission case（1）Madial wall be fixedly linked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307384.7U CN207593800U (en) | 2017-10-11 | 2017-10-11 | A kind of automatic mechanical arm transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307384.7U CN207593800U (en) | 2017-10-11 | 2017-10-11 | A kind of automatic mechanical arm transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207593800U true CN207593800U (en) | 2018-07-10 |
Family
ID=62756565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721307384.7U Expired - Fee Related CN207593800U (en) | 2017-10-11 | 2017-10-11 | A kind of automatic mechanical arm transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207593800U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772831A (en) * | 2018-09-10 | 2018-11-09 | 苏州小工匠机器人有限公司 | Robot device |
| CN110070782A (en) * | 2019-06-10 | 2019-07-30 | 黑龙江工程学院 | A kind of auxiliary English word memorizing device |
| CN112281963A (en) * | 2020-11-04 | 2021-01-29 | 钱学彪 | Drainage ditch excavating device for railway bridge and operation method thereof |
| CN112828919A (en) * | 2021-01-05 | 2021-05-25 | 赵淑英 | Five-axis manipulator for injection molding machine |
-
2017
- 2017-10-11 CN CN201721307384.7U patent/CN207593800U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772831A (en) * | 2018-09-10 | 2018-11-09 | 苏州小工匠机器人有限公司 | Robot device |
| CN110070782A (en) * | 2019-06-10 | 2019-07-30 | 黑龙江工程学院 | A kind of auxiliary English word memorizing device |
| CN112281963A (en) * | 2020-11-04 | 2021-01-29 | 钱学彪 | Drainage ditch excavating device for railway bridge and operation method thereof |
| CN112828919A (en) * | 2021-01-05 | 2021-05-25 | 赵淑英 | Five-axis manipulator for injection molding machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207593800U (en) | A kind of automatic mechanical arm transmission mechanism | |
| CN100496903C (en) | Finger-base joint mechanism for smart robot hand | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN105690376A (en) | Multi-degree-of-freedom motion platform | |
| CN104875192A (en) | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism | |
| CN101323110A (en) | Large angle rotary type joint mechanism of mechanical arm | |
| CN103736617B (en) | A kind of five degree of freedom controllable-mechanism type flush coater | |
| CN207504709U (en) | A kind of small-sized Omni-mobile platform decelerating motor | |
| CN105881566A (en) | Finger side swinging and opposing mechanism of five-finger dextrous hand based on screw linkage mechanism | |
| CN102729258A (en) | Double-motor motion module | |
| CN111604874A (en) | Force feedback master hand of master-slave manipulator | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN102554917A (en) | Multi-over restraint parallel mechanism with two-dimensional translation and one-dimensional rotation | |
| CN100569460C (en) | The branched chain nesting three-freedom moving platform continuously turning parallel robot mechanism | |
| CN107053250A (en) | A kind of Five-degree-of-freedmanipulator manipulator armshaft based on rotation platform | |
| CN207104907U (en) | A kind of SCARA motion parallel connection mechanisms with rectangular workspace | |
| CN204482446U (en) | A kind of cassette mechanism structure and the shrub and hedge trimmer with described cassette mechanism structure of shrub and hedge trimmer | |
| CN206123649U (en) | Transmission and robot | |
| JP5076152B2 (en) | robot | |
| CN205380690U (en) | Robot hand | |
| CN209289321U (en) | A kind of Multi-functional transmission articulation mechanism | |
| CN203197916U (en) | Robot wrist for laser precise processing | |
| CN208246812U (en) | A kind of wu-zhi-shan pig | |
| CN207796018U (en) | Rotational motion to linear motion integrated device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180710 Termination date: 20191011 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |