CN207953855U - A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism - Google Patents
A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism Download PDFInfo
- Publication number
- CN207953855U CN207953855U CN201721912660.2U CN201721912660U CN207953855U CN 207953855 U CN207953855 U CN 207953855U CN 201721912660 U CN201721912660 U CN 201721912660U CN 207953855 U CN207953855 U CN 207953855U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- lifting support
- elevating mechanism
- ground
- sliding rail
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of mobile robot stabilizing mechanism and equipped with the mobile robot of the stabilizing mechanism, the supporting mechanism being separately positioned at left and right sides of mobile robot including two sets, supporting mechanism includes lifting support and elevating mechanism, and lifting support moves up and down under the action of elevating mechanism to be left ground or mobile robot is down to ground to be lifted mobile robot.It the advantage is that, pass through lifting support and elevating mechanism, entire mobile robot is lifted away from ground in mobile work robot, driving wheel is contacted with the line on ground and is transformed into lifting support bottom surface and is contacted with the face on ground, the stability for improving mobile robot prevents the problems such as vehicle body vibrations offset even tilts；Meanwhile using two sets of independent supporting mechanisms, reducing structure complexity and the process and assemble requirement of supporting mechanism.
Description
Technical field
The utility model is related to a kind of mobile robot stabilizing mechanism and equipped with the mobile robot of the stabilizing mechanism.
Background technology
The mobile robot of mainstream at present, the chassis configurations such as AGV are roughly the same, and centrally arranged a pair of driving wheels provides drive
Power, quadrangle is respectively arranged a universal wheel, to provide support；Or it is respectively arranged a driving wheel in chassis quadrangle.No matter
Be which kind of AGV, being contacted with ground by driving wheel, contact of the driving wheel with ground is that line contacts, and this contact is unstable,
Moreover universal wheel can also freely circle round.There is back gap between subtrahend machine internal gear simultaneously, driving motor itself returns gap etc., this
The phenomenon that several places time gap can be amplified by subtrahend machine itself, be directly delivered on driving wheel, be caused is, when driving wheel enables,
Driving wheel remains to the rotation of certain angle.This unstability of driving wheel and universal wheel can influence the normal work of entire AGV
Make, especially to the higher occasion of ontology stability requirement.
For example the AGV of mechanical arm is carried, crawl pcb board carries out assembling work, this is a high-precision working scene,
Vehicle body domain is asked to possess enough stability.Mechanical arm will produce a prodigious inertia, vehicle body made to generate when fast moving
Larger shaking, or even car body position is made to shift, for high-precision assembly occasion, even if slight offset is shaken, all
Mechanical arm tail end can be had an impact, even result in assembly failure.
Utility model content
For overcome the deficiencies in the prior art, one of the purpose of this utility model is to provide a kind of mobile robot stabilization
Mechanism makes it keep stablizing when executing work, does not shake.
One of the purpose of this utility model is to provide a kind of mobile robot equipped with aforementioned stable mechanism.
One of the purpose of this utility model adopts the following technical scheme that realization：
A kind of mobile robot stabilizing mechanism, including two sets of support machines being separately positioned at left and right sides of mobile robot
Structure, the supporting mechanism include lifting support and elevating mechanism, and the lifting support is upper and lower under the action of the elevating mechanism
It is mobile to leave ground to be lifted mobile robot or mobile robot is down to ground.
Further, the elevating mechanism includes lifter plate, and the lifting support is connected with the lifter plate, the liter
Drop strip is moved the lifting support and is moved up and down.
Further, the elevating mechanism includes surface cam structure, and the surface cam structure includes being arranged described
The cam in guiding groove and the embedded guiding groove on lifter plate, the guiding groove includes first horizontal portion, inclined portion and second
Horizontal part, the inclined portion are arranged between the first horizontal portion and the second horizontal part and are connected to the first horizontal portion and second
Horizontal part, the cam are moved in the guiding groove to drive the lifter plate to lift.
Further, two guiding grooves are symmetricly set on the lifter plate, and the elevating mechanism further includes driving
Motor and forward lead screw, the driving motor drive the forward lead screw rotation, the forward lead screw to be equipped with positive transmission spiral shell
Female and reverse drive nut, when the forward lead screw rotation, forward direction transmission nut phase synchronous with the reverse drive nut
To movement or back movement, one of described forward direction transmission nut and two described cams are connected and are moved with it, described
The other of reverse drive nut and two described cams are connected and with its movements.
Further, the elevating mechanism further includes horizontal linearity sliding rail, and the horizontal linearity sliding rail is equipped with two sliding blocks,
The sliding block is connected with the positive transmission nut and the reverse drive nut by fixed block respectively, the cam setting
On the fixed block, the horizontal linearity sliding rail and the mobile robot Joint.
Further, elevating mechanism further includes vertical linearity sliding rail, and the vertical linearity sliding rail and mobile robot are affixed,
Upright slide block is provided on vertical linearity sliding rail, lifting support is slidably connected by upright slide block and vertical linearity sliding rail.
Further, the elevating mechanism is equipped with rotating handles, for manually controlling the elevating mechanism and the liter
The lifting of descending branch column.
The two of the purpose of this utility model adopt the following technical scheme that realization：
A kind of mobile robot is equipped with above-mentioned mobile robot stabilizing mechanism.
Further, the mobile robot includes pedestal, driving wheel, and the elevating mechanism setting is on the base
Side, the lifting support pass through the pedestal and can the relatively described pedestal move up and down, driving wheel is contacted with the line on ground and
Lifting support bottom surface and the face on ground contact phase co-conversion.
Further, it is equipped with portal frame above the pedestal, the elevating mechanism is connected with the portal frame.
Compared with prior art, the beneficial effects of the utility model are：
By lifting support and elevating mechanism, entire mobile robot is lifted away from ground in mobile work robot, it will
Driving wheel is contacted with the line on ground to be transformed into lifting support bottom surface and is contacted with the face on ground, and the stabilization of mobile robot is improved
Degree prevents the problems such as vehicle body vibrations offset even tilts；Meanwhile using two sets of independent supporting mechanisms, reducing support
Structure complexity and the process and assemble requirement of mechanism.
Description of the drawings
Fig. 1 is the structural schematic diagram of the stabilizing mechanism being connect with pedestal of the utility model embodiment；
Fig. 2 is the positive structure schematic of the stabilizing mechanism being connect with pedestal of the utility model embodiment；
Fig. 3 is the structural schematic diagram of the elevating mechanism of the utility model embodiment；
Fig. 4 is the positive structure schematic of the elevating mechanism of the utility model embodiment.
In figure：10, supporting mechanism；11, lifting support；20, elevating mechanism；21, lifter plate；22, driving motor；221, defeated
Enter gear；222, intermediate gear；223, output gear；23, forward lead screw；231, input terminal；24, positive transmission nut；25, anti-
To transmission nut；26, horizontal linearity sliding rail；27, sliding block；28, fixed block；30, surface cam structure；31, guiding groove；32, convex
Wheel；33, first horizontal portion；34, inclined portion；35, the second horizontal part；40, pedestal；41, vertical linearity sliding rail；42, upright slide block；
43, portal frame；50, rotating handles.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the utility model is described further, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
In the description of the present invention, it should be noted that for the noun of locality, if any term "center", " transverse direction ",
" longitudinal direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top",
The indicating positions such as "bottom", "inner", "outside", " clockwise ", " counterclockwise " and position relationship are orientation based on ... shown in the drawings or position
Relationship is set, narration the utility model is merely for convenience of and simplifies to describe, do not indicate or imply the indicated device or element
It must have a particular orientation, constructed and operated with particular orientation, should not be understood as the specific protection model for limiting the utility model
It encloses.
In addition, being used for description purposes only if any term " first ", " second ", it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating technical characteristic." first " is defined as a result, " second " feature can be expressed or implicit include
One or more this feature, in the utility model description, " several " are meant that two or more, unless otherwise bright
It is really specific to limit.
In the present invention, except as otherwise clear stipulaties and restriction, if any term " assembling ", " connected ", " connection " term
It should go to understand as broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can also be machine
Tool connects；It can be directly connected, can also be to be connected by intermediary, can be connected inside two elements.For
For those of ordinary skill in the art, it can understand that above-mentioned term in the present invention specific contains as the case may be
Justice.
In the present invention, mobile robot can also be the equipment that other dependences have mobile operation function, such as
Intelligent toy, smart home, mapping vehicle with mechanical arm or transport mechanism etc..
As shown in Figs 1-4, a kind of mobile robot stabilizing mechanism, including two sets be separately positioned on mobile robot or so two
The mutually independent supporting mechanism 10 of side, supporting mechanism 10 include lifting support 11 and elevating mechanism 20, and lifting support 11 is rising
It is moved up and down under the action of descending mechanism 20 and leaves ground to be lifted mobile robot or mobile robot is down to ground.
By lifting support 11 and elevating mechanism 20, entire mobile robot is lifted away from ground in mobile work robot
Driving wheel is contacted with the line on ground and is transformed into 11 bottom surface of lifting support and is contacted with the face on ground, improves mobile robot by face
Stability when operation, such as when the mobile robot with mechanical arm carries out crawl object using mechanical arm, AGV robots profit
When carrying out feeding with the conveying mechanism on robot body, the problems such as vehicle body vibrations offset even tilts is prevented；Meanwhile it adopting
With two sets of independent supporting mechanisms 10, structure complexity and the process and assemble requirement of supporting mechanism 10 are reduced.
In order to keep the heave amplitude of lifting support 11 unified, ensure steady, the elevating mechanism 20 when mobile robot lifting
Including lifter plate 21, the quantity of lifting support 11 is two, is connected respectively at the both ends of lifter plate 21, and the connection of lifter plate 21 rises
Descending branch column 11, and lifting support 11 is driven to move up and down.Since the supporting mechanism 10 for being arranged in mobile robot or so all has
Elevating mechanism 20 and lifting support 11, therefore there are two lifter plates 21, be arranged in the symmetrical both sides of mobile robot, lifting support
There are four 11, it is separately positioned on the quadrangle of mobile robot.
Elevating mechanism 20 includes surface cam structure 30, and surface cam structure 30 is symmetricly set on lifter plate 21 including two
On guiding groove 31 and embedded guiding groove 31 in cam 32, guiding groove 31 includes first horizontal portion 33, inclined portion 34 and the second water
Flat portion 35, inclined portion 34 are arranged between first horizontal portion 33 and the second horizontal part 35 and are connected to first horizontal portion 33 and the second level
Portion 35, cam 32 are moved in guiding groove 31 to drive lifter plate 21 to lift.Cam 32 moves in inclined portion 34, is equivalent to one
The deceleration mechanism of low friction.As shown in Fig. 2, two inclined portions 34 are symmetrical arranged, in " eight " font, when two cams 32 are transported in opposite directions
Dynamic, when being respectively moved to corresponding inclined portion 34, cam 32 moves in inclined portion 34, and lifter plate 21 is gradually increasing, and cam 32 is opposite
It is moved down in inclined portion 34, one is generated on 34 inner wall of inclined portion perpendicular to inclined-plane and the thrust of amplification, due to two guiding grooves
31 are symmetrical arranged, and the thrust that two cams 32 generate ultimately generates a resultant force straight up, and lifter plate 21 is pushed to rise；When
Two 32 back movements of cam, when being respectively moved to corresponding inclined portion 34, lifter plate 21 is gradually reduced, and cam 32 is in 34 phase of inclined portion
Inclined portion 34 is moved up, generation one perpendicular to inclined-plane and is the thrust amplified on 34 inner wall of inclined portion, and cam 32 is produced
Raw thrust ultimately generates a resultant force straight down, and lifter plate 21 is pushed to decline, and when lifter plate 21 declines, setting is lifting
The lifting support 11 at 21 both ends of plate also declines, and bottom surface is contacted with ground, and the direction force of generation makes to lift away from entire mobile robot
Open ground.
First level face and the second horizontal plane limit the upper and lower position of lifter plate 21 with the liftable height of determination, tiltedly respectively
The angle of inclination in portion 34 determines reduction ratio.Main advantage using the above structure is：1, cam 32 and guiding groove 31 rub
It is small to wipe resistance, when car body is lifted by supporting rod, the power very little of extraneoas loss, that is, system effectiveness are high, can reduce to motor
Requirement；2, as said before, inclined portion 34 is equivalent to a deceleration mechanism, reduction of speed degree torque-increasing, this just further reduced pair
The requirement of motor and motor output end speed reducer, that is, the motor of small torque and the speed reducer of small reduction ratio can be selected；3、
When cam 32 moves to first level face or the second horizontal plane position, the gravity of car body itself is vertically born, all power is vertical
Downwards, motor is without generating torsion at this time, and mobile robot can keep stable, and the power consumption of motor is very low at this time.
In order to give the movement of cam 32 to provide and conduction driving force, elevating mechanism 20 further includes driving motor 22 and forward lead screw
23, forward lead screw 23 is connect with revolute, and driving motor 22 drives forward lead screw 23 to rotate, and forward lead screw 23 is equipped with just
To transmission nut 24 and reverse drive nut 25, when forward lead screw 23 rotates, positive transmission nut 24 and reverse drive nut 25
Synchronous relative motion or back movement, one of positive transmission nut 24 and two cams 32 are connected and with its movements, instead
It is connected to the other of transmission nut 25 and two cams 32 and with its movement.
In order to ensure the steady and horizontal of convex block movement, elevating mechanism 20 further includes horizontal linearity sliding rail 26, horizontal linearity
Sliding rail 26 is equipped with two sliding blocks 27, and sliding block 27 passes through 28 phase of fixed block with positive transmission nut 24 and reverse drive nut 25 respectively
Connection, cam 32 are arranged on fixed block 28, horizontal linearity sliding rail 26 and mobile robot Joint.
Gear set is equipped between driving motor 22 and forward lead screw 23, gear set includes being connected with 22 output shaft of driving motor
The input gear 221 connect, the intermediate gear 222 engaged with input gear 221 and the output gear engaged with intermediate gear 222
223, output gear 223 is connected with the input terminal 231 of forward lead screw 23, and intermediate gear 222 can select reduction gearing, also may be used
Common transmission gear, forward lead screw 23 is selected to realize the rotation connection with robot by multi-stage gear and driving motor.
In order to ensure the vertical up and down motion of lifting support 11, elevating mechanism 20 further includes vertical linearity sliding rail 41, described
Vertical linearity sliding rail 41 and robot are affixed, and upright slide block 42 is provided on vertical linearity sliding rail 41, and lifting support 11 passes through perpendicular
Straight sliding block 42 is slidably connected with vertical linearity sliding rail 41.
Mobile robot includes pedestal 40, and pedestal 40 is above the ground level, and driving wheel setting rises in 40 both sides of pedestal or lower section
The setting of descending mechanism 20 is square on the base 40 it, reduces the overall volume of mobile robot, makes full use of inner space, lifting support
11 pass through pedestal 40 and can be moved up and down with respect to pedestal 40, and driving wheel is contacted and lifting support bottom surface and ground with the line on ground
Face contact phase co-conversion.
The needs of elevating mechanism 20 are fixedly connected with mobile robot, specifically, the horizontal linearity sliding rail 26 of elevating mechanism 20,
Vertical linearity sliding rail 41 and driving motor 22 may be mounted on pedestal 40 or in other the relatively-stationary mechanisms of pedestal 40.
11 OQ t mechanism 20 of lifting support moves, and could be lifted or decline mobile robot, the torque that elevating mechanism 20 generates compared with
Greatly, to prevent damage mobile robot ontology, 40 top of pedestal to be equipped with portal frame 43, elevating mechanism 20 is connected with portal frame 43
It connects, specifically, the lifter plate 21 of elevating mechanism 20 is fixedly connected with portal frame 43, the horizontal linearity sliding rail 26 of elevating mechanism 20,
Vertical linearity sliding rail 41 and driving motor 22 can also be realized by portal frame 43 to be fixedly connected with robot, ensures to connect
Fastness and mobile robot ontology normal operation, reduce repacking cost.
When mechanism executes in place, when car body is lifted away from ground into stable state, if occur it is abnormal, when vehicle loses electric power,
Elevating mechanism 20 is equipped with rotating handles 50, the lifting for manually controlling elevating mechanism 20 and lifting support 11, more specifically
It says, rotating handles 50 are sequentially connected with forward lead screw 23, rotatable forward lead screw 23.
In conjunction with the above embodiment and attached drawing 1-4, the specific function mode of stabilizing mechanism can be as follows：
When the rotating forward of driving motor 22, transmitted by the torque of input gear 221, intermediate gear 222, output gear 223, band
Dynamic forward lead screw 23 rotates forward, and positive transmission nut 24 and reverse drive nut 25 are respectively with movable slider, and two sliding blocks are in horizontal linearity
Back movement on sliding rail 26, the fixed block 28 on sliding block are connect with cam 32, and band 32 back movement of moving cam, cam 32 is lifting
Generate a power straight down in the guiding groove 31 of plate 21, lifter plate 21 driven to move downward, at the same lifting support 11 also to
Lower movement contacts ground；Motor is rotated further, and cam 32 continues back movement, and lifting support continuation is protruding, due to having connect
Entire car body is lifted away from ground by tread surface, the power that lifting support 11 generates.
When the reversion of driving motor 22, transmitted by the torque of input gear 221, intermediate gear 222, output gear 223, band
Dynamic forward lead screw 23 inverts, and positive transmission nut 24 and reverse drive nut 25 are respectively with movable slider, and two sliding blocks are in horizontal linearity
It is moved toward one another on sliding rail 26, the fixed block 28 on sliding block is connect with cam 32, and band moving cam 32 moves toward one another, and cam 32 is lifting
Generate a power straight up in the guiding groove 31 of plate 21, lifter plate 21 driven to move upwards, at the same lifting support 11 also to
Upper movement, after mobile robot is down to ground, lifting support 11 continues up, and lifts away from ground, and mobile robot is removable
It is dynamic.
The above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacing belongs to
In the utility model range claimed.
Claims (10)
1. a kind of mobile robot stabilizing mechanism, which is characterized in that be separately positioned at left and right sides of mobile robot including two sets
Supporting mechanism, the supporting mechanism includes lifting support and elevating mechanism, work of the lifting support in the elevating mechanism
It is moved up and down under and leaves ground to be lifted mobile robot or mobile robot is down to ground.
2. mobile robot stabilizing mechanism as described in claim 1, which is characterized in that the elevating mechanism includes lifter plate,
The lifting support is connected with the lifter plate, and the lifter plate drives the lifting support to move up and down.
3. mobile robot stabilizing mechanism as claimed in claim 2, which is characterized in that the elevating mechanism includes surface cam
Structure, the surface cam structure include the cam in the guiding groove being arranged on the lifter plate and the embedded guiding groove,
The guiding groove includes first horizontal portion, inclined portion and the second horizontal part, and the inclined portion is arranged in the first horizontal portion and second
Between horizontal part and it is connected to the first horizontal portion and the second horizontal part, the cam moves in the guiding groove to drive
State lifter plate lifting.
4. mobile robot stabilizing mechanism as claimed in claim 3, which is characterized in that two guiding grooves are symmetricly set on
On the lifter plate, the elevating mechanism further includes driving motor and forward lead screw, and the driving motor drives the positive and negative silk
Bar rotates, and the forward lead screw is equipped with positive transmission nut and reverse drive nut, when the forward lead screw rotation, it is described just
To transmission nut and the reverse drive nut synchronous relative motion or back movement, it is described forward direction transmission nut and two described in
One of cam is connected and with its movement, and the other of the reverse drive nut and two described cams are connected simultaneously
With its movement.
5. mobile robot stabilizing mechanism as claimed in claim 4, which is characterized in that the elevating mechanism further includes horizontal line
Property sliding rail, the horizontal linearity sliding rail is equipped with two sliding blocks, the sliding block respectively with the positive transmission nut and described reversed
Transmission nut is connected by fixed block, and the cam is arranged on the fixed block, the horizontal linearity sliding rail and the shifting
Mobile robot Joint.
6. mobile robot stabilizing mechanism as described in claim 1, which is characterized in that elevating mechanism further includes that vertical linearity is slided
Rail, the vertical linearity sliding rail and mobile robot are affixed, and upright slide block is provided on vertical linearity sliding rail, and lifting support passes through
Upright slide block is slidably connected with vertical linearity sliding rail.
7. mobile robot stabilizing mechanism as described in claim 1, which is characterized in that the elevating mechanism is equipped with rotation handle
Hand, the lifting for manually controlling the elevating mechanism and the lifting support.
8. a kind of mobile robot, which is characterized in that stablize machine equipped with the mobile robot as described in claim 1-7 any bars
Structure.
9. mobile robot as claimed in claim 8, which is characterized in that the mobile robot includes pedestal, driving wheel, institute
Elevating mechanism setting side on the base is stated, the lifting support passes through the pedestal and can be moved down on the relatively described pedestal
It is dynamic, driving wheel is contacted and the face on lifting support bottom surface and ground contact phase co-conversion with the line on ground.
10. mobile robot as claimed in claim 9, which is characterized in that be equipped with portal frame, the lifting above the pedestal
Mechanism is connected with the portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721912660.2U CN207953855U (en) | 2017-12-30 | 2017-12-30 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721912660.2U CN207953855U (en) | 2017-12-30 | 2017-12-30 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953855U true CN207953855U (en) | 2018-10-12 |
Family
ID=63731247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721912660.2U Active CN207953855U (en) | 2017-12-30 | 2017-12-30 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953855U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098756A (en) * | 2017-12-30 | 2018-06-01 | 杭州南江机器人股份有限公司 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
-
2017
- 2017-12-30 CN CN201721912660.2U patent/CN207953855U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098756A (en) * | 2017-12-30 | 2018-06-01 | 杭州南江机器人股份有限公司 | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208384374U (en) | A kind of Multifunctional mobile platform | |
| CN102380737A (en) | Oblique overturning displacement mechanism | |
| CN205131425U (en) | Biped robot | |
| CN207953855U (en) | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism | |
| CN207989674U (en) | A kind of rotary motion becomes the mechanism of straight reciprocating motion | |
| CN205064628U (en) | Drive mechanism with reverse auto -lock structure | |
| CN101342661A (en) | Miller elevating table feed reverse apparatus | |
| CN209996209U (en) | Lifting mechanism, laser radar lifting mechanism and mobile robot thereof | |
| CN108098756A (en) | A kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism | |
| CN209052107U (en) | A kind of handling machinery arm | |
| CN112975931A (en) | Connecting rod type robot head movement mechanism | |
| CN203717878U (en) | Manual transmission shifting structure | |
| CN205207569U (en) | Transmission and rack turning steering mechanism thereof | |
| CN212445312U (en) | Electric push rod type automatic lifting mechanical arm | |
| CN209336722U (en) | A kind of track turn tractor | |
| CN209571550U (en) | A kind of six grades of electric turning antenna driver transmission devices | |
| CN113664489A (en) | Automatic overturning and butting device for heavy-load complex structural part | |
| CN212327394U (en) | Tile lifting structure and mahjong machine | |
| CN112264967A (en) | Mechanical arm construction work platform | |
| CN208929587U (en) | A kind of positioner of installation easy to disassemble | |
| CN201703495U (en) | Self tipping wagon with guide rail | |
| CN207877183U (en) | A kind of folding pull rod device | |
| CN202282569U (en) | Rocking device for universal circuit breaker drawer seat | |
| CN209290553U (en) | Novel double two-way AGV of drive | |
| CN201115167Y (en) | A novel player lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220311 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310000 three, 3, 66, 68, 70, Dongxin Avenue, Binjiang District, Hangzhou, Zhejiang. Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |