CN208117831U - A kind of mechanical arm and robot - Google Patents
A kind of mechanical arm and robot Download PDFInfo
- Publication number
- CN208117831U CN208117831U CN201820497438.9U CN201820497438U CN208117831U CN 208117831 U CN208117831 U CN 208117831U CN 201820497438 U CN201820497438 U CN 201820497438U CN 208117831 U CN208117831 U CN 208117831U
- Authority
- CN
- China
- Prior art keywords
- arm
- knuckle arm
- fixed
- synchronous pulley
- synchronous
- 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
- 230000001360 synchronised effect Effects 0.000 claims abstract description 153
- 238000009434 installation Methods 0.000 claims abstract description 6
- 229920001971 elastomer Polymers 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of mechanical arm and a kind of robots, including at least three joint arms；It is connected between adjacent joint arm by rotating assembly, there is the first and second synchronous pulley on rotating assembly, first synchronous pulley and previous stage joint arm are relatively fixed, second synchronous pulley and rear stage joint arm are relatively fixed, in each joint arm, with the first synchronous pulley and its with the second synchronous pulley pass through synchronous band connection；The first end of head end joint arm has third synchronous pulley and a driving device, and third synchronous pulley and passes through synchronous band connection between relatively-stationary second synchronous pulley of first end of the rear stage joint arm of head end joint arm second end connection；The second end of end joint arm has installation axle and the 4th synchronous pulley, and the 4th synchronous pulley is fixedly connected between relatively-stationary first synchronous pulley of the first end of the previous stage joint arm of end joint arm with installation rotating assembly through synchronous band connection.Structure is complicated, not easy to operate when solving the problems, such as in the prior art using interlocking mechanism arm.
Description
Technical Field
The utility model relates to an automatic control field, in particular to arm and robot.
Background
With the development of science and technology, more and more people's application are obtained to the arm.
Fig. 1 shows a robot suitable for autonomous obstacle avoidance in a long and narrow tunnel in the prior art, and relates to a robot arm, which includes a camera 10, a robot arm 11, a walking motor 12, and a walking crawler 13, where the walking crawler 13 is disposed on two sides of a vehicle body, the robot arm 11 is disposed on the vehicle body, and the camera 10 is disposed on a tail-end knuckle arm of the robot arm 11.
The mechanical arm 11 comprises a plurality of sections of arms, in the prior art, in order to drive each section of arm in the mechanical arm, two modes are generally adopted, one mode is that a driving motor is respectively arranged between every two adjacent sections of arms for driving, and the other mode is that each section of arm is driven in a linkage mode, however, the driving motors needed in the first mode are more, and the cost of the whole mechanical arm is higher; in the second mode, the structure for realizing the linkage between the respective joint arms is complicated, and the operation is not easy.
SUMMERY OF THE UTILITY MODEL
The utility model provides a mechanical arm and robot for the problem of complicated, the difficult operation of structure when adopting linkage arm among the solution prior art.
The embodiment of the utility model provides a mechanical arm, which comprises at least three sections and a fixed plate; wherein:
each two adjacent knuckle arms are rotationally connected through a rotating shaft assembly, a first synchronous belt wheel and a second synchronous belt wheel are arranged on the rotating shaft assembly, the first synchronous belt wheel is relatively fixed with the second end of the previous knuckle arm, the second synchronous belt wheel is relatively fixed with the first end of the next knuckle arm, and in each knuckle arm, the first synchronous belt wheel at the joint of the first synchronous belt wheel and the second synchronous belt wheel at the joint of the second synchronous belt wheel and the next knuckle arm are connected through a synchronous belt;
the first end of the head end knuckle arm is fixed on the fixing plate and is provided with a third synchronous pulley and a driving device for driving the third synchronous pulley to act, and the third synchronous pulley is connected with a second synchronous pulley which is relatively fixed with the first end of the next-stage knuckle arm connected with the second end of the head end knuckle arm through a synchronous belt;
the second end of end knuckle arm is provided with can for end knuckle arm is rotatory around self axial lead, with platform installation axle and the fourth synchronous pulley that is used for the erection equipment platform, just fourth synchronous pulley with platform installation pivot subassembly fixed connection, and with pass through the hold-in range connection between the first synchronous pulley of the second end relative fixation of the preceding stage knuckle arm of end knuckle arm.
In the mechanical arm provided by the utility model, every two adjacent sections of arms are rotationally connected through the rotating shaft component, and the rotating shaft component is provided with the first synchronous belt wheel and the second synchronous belt wheel, wherein the second synchronous belt wheel is relatively fixed with the first end of the next section of arm, and the motion of the previous section of arm drives the motion of the next section of arm; because the first synchronous belt pulley and the second end of the front-stage knuckle arm are relatively fixed, when the rear-stage knuckle arm rotates around the rotating shaft assembly relative to the front-stage knuckle arm, relative movement can be generated between the first synchronous belt pulley and the rear-stage knuckle arm; and in each knuckle arm, a first synchronous belt wheel at the joint of the front-stage knuckle arm and a second synchronous belt wheel at the joint of the rear-stage knuckle arm are connected through a synchronous belt, so that the whole mechanical arm can be driven to swing. Taking a first-end knuckle arm, a second knuckle arm and a third knuckle arm as an example, a third synchronous pulley and a driving device are arranged on one side, fixed on a fixing plate, of a first end of the first-end knuckle arm, the driving device drives the third synchronous pulley, and the third synchronous pulley is connected with a second synchronous pulley, fixed relatively to a first end of the second knuckle arm, through a synchronous belt, the third synchronous pulley drives the second synchronous pulley fixed relatively to the first end of the second knuckle arm; because the second synchronous belt pulley is relatively fixed with the first end of the second knuckle arm, the second synchronous belt pulley moves and simultaneously drives the second knuckle arm, and due to the relative movement principle, the first synchronous belt pulley relatively fixed with the head end knuckle arm and the second synchronous belt pulley relatively fixed with the second knuckle arm generate relative movement to drive the first synchronous belt pulley relatively fixed with the first end of the third knuckle arm to move, and the first synchronous belt pulley moves to drive the third arm to move so as to drive the subsequent knuckle arm to move, thereby driving the whole mechanical arm to move.
In the above-mentioned arm, through pivot subassembly and first synchronous pulley and the cooperation of second synchronous pulley between every two adjacent festival arms, the action of each festival arm in just can realizing the arm through corresponding hold-in range simultaneously, simple structure, and be convenient for control.
Preferably, the rotating shaft assembly arranged between every two adjacent knuckle arms and between the front knuckle arm and the rear knuckle arm comprises a shaft core and a shaft sleeve which is sleeved outside the shaft core and can rotate relative to the shaft core, the shaft core is fixed at the first end of the rear knuckle arm, the shaft sleeve is fixed at the second end of the front knuckle arm, the first synchronous pulley is fixed on the shaft core, and the second synchronous pulley is fixed on the shaft sleeve.
Preferably, between every two adjacent knuckle arms, the rotating shaft assembly arranged between the front-stage knuckle arm and the rear-stage knuckle arm comprises a shaft core and a shaft sleeve which is sleeved outside the shaft core and can rotate relative to the shaft core, the shaft core is fixed at the first end of the rear-stage knuckle arm, the shaft sleeve is fixed at the second end of the front-stage knuckle arm, the second synchronous pulley is fixed on the shaft core, and the second synchronous pulley is fixed on the shaft sleeve.
Preferably, the diameter size of the shaft core is smaller than the size of the first synchronous pulley;
the diameter size of the shaft core is smaller than the size of the second synchronous pulley.
Preferably, between every two adjacent knuckle arms, the first synchronous pulley is fixed to the second end of the previous knuckle arm, and the second synchronous pulley is fixed to the first end of the next knuckle arm.
Preferably, the driving device is a steering engine or a stepping motor.
Preferably, the head end knuckle arm is provided with a through hole for mounting the driving device, and the axis of the through hole is parallel to the fixing plate.
Preferably, the synchronous belt is a rubber synchronous belt; or,
the synchronous belt is a polyurethane synchronous belt.
Preferably, the embodiment of the present invention further provides a robot, including any one of the above technical solutions.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive effort.
Fig. 1 is a mechanical arm in the prior art according to an embodiment of the present invention;
fig. 2a-2b illustrate one embodiment of the present invention;
FIG. 3 illustrates a first manner of connecting a front arm to a rear arm according to an embodiment of the present invention;
fig. 4 shows another connection mode between the previous arm and the next arm according to the embodiment of the present invention;
fig. 5 shows a second implementation manner of the embodiment of the present invention, in which the second synchronous pulley is relatively fixed to the first end of the rear-stage knuckle arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The embodiment of the utility model provides a mechanical arm, which comprises at least three sections and a fixed plate; wherein:
every two adjacent knuckle arms are rotatably connected through a rotating shaft assembly 114, a first synchronous belt pulley 106 and a second synchronous belt pulley 107 are arranged on the rotating shaft assembly 114, the first synchronous belt pulley 106 is relatively fixed with the second end of the front-stage knuckle arm, the second synchronous belt pulley 107 is relatively fixed with the first end of the rear-stage knuckle arm, and in each knuckle arm, the first synchronous belt pulley at the joint of the first synchronous belt pulley and the second synchronous belt pulley at the joint of the second synchronous belt pulley and the rear-stage knuckle arm are connected through a synchronous belt;
the first end of the head end knuckle arm is fixed on the fixing plate 108, and is provided with a third synchronous pulley 109 and a driving device 110 for driving the third synchronous pulley 109 to act, and the third synchronous pulley 109 is connected with a second synchronous pulley 107 which is relatively fixed with the first end of the rear-stage knuckle arm connected with the second end of the head end knuckle arm through a synchronous belt 111;
the second end of the end knuckle arm is provided with a platform mounting shaft and a fourth synchronous pulley 112, which can rotate around the axis line of the second end of the end knuckle arm relative to the end knuckle arm and is used for mounting an equipment platform 114, and the fourth synchronous pulley 112 is fixedly connected with the platform mounting rotating shaft assembly 114 and connected with the first synchronous pulley 106, which is relatively fixed with the second end of the previous-stage knuckle arm of the end knuckle arm, through a synchronous belt 111.
In the mechanical arm provided by the utility model, every two adjacent knuckle arms are rotationally connected through the rotating shaft component 114, and the rotating shaft component is provided with the first synchronous belt pulley 106 and the second synchronous belt pulley 107, wherein the second synchronous belt pulley 107 is relatively fixed with the first end of the next-stage knuckle arm, and the motion of the previous-stage knuckle arm drives the motion of the next-stage knuckle arm; because the first synchronous pulley 106 is fixed relative to the second end of the preceding knuckle arm, relative motion occurs between the first synchronous pulley 106 and the following knuckle arm as the following knuckle arm rotates relative to the preceding knuckle arm about the pivot assembly 114; and in each knuckle arm, a first synchronous belt wheel at the joint with the front-stage knuckle arm and a second synchronous belt wheel 107 at the joint with the rear-stage knuckle arm are connected through a synchronous belt 111, so that the whole mechanical arm can be driven to swing. Taking the first-end knuckle arm, the second knuckle arm and the third knuckle arm as an example, a third synchronous pulley 109 and a driving device 110 are arranged on one side of the first-end knuckle arm fixed on the fixing plate, the driving device 110 drives the third synchronous pulley 109, and the third synchronous pulley 109 is connected with a second synchronous pulley 107 fixed relative to the first end of the second knuckle arm through a synchronous belt 111, so that the second synchronous pulley 107 fixed relative to the first end of the second knuckle arm is driven by the third synchronous pulley 109; because the second synchronous pulley 107 is fixed relatively to the first end of the second knuckle arm, the second synchronous pulley 107 moves while driving the second knuckle arm, and because of the principle of relative movement, the first synchronous pulley 106 fixed relatively to the first knuckle arm and the second synchronous pulley 107 fixed relatively to the second knuckle arm generate relative movement to drive the first synchronous pulley 106 fixed relatively to the first end of the third knuckle arm to move, and the first synchronous pulley 106 moves to drive the third arm to move, and further drives the subsequent knuckle arm to move, thereby driving the whole mechanical arm to move.
In the above-mentioned arm, through pivot subassembly and first synchronous pulley and the cooperation of second synchronous pulley between every two adjacent festival arms, the action of each festival arm in just can realizing the arm through corresponding hold-in range simultaneously, simple structure, and be convenient for control.
As shown in fig. 2a-2b, the present invention provides a mechanical arm introduced by taking three-section arm as an example, wherein fig. 2a is a side view of the mechanical arm provided by the present invention, fig. 2b is a front view of the mechanical arm provided by the present invention, and as can be seen in fig. 2a and 2b, the mechanical arm includes three-section arm, first section arm 100, second section arm 101 and third section arm 102;
the first knuckle arm 100 is connected with the second knuckle arm 101 through a first rotating shaft 104, the second knuckle arm 101 is connected with the third knuckle arm 103 through a second rotating shaft 105, and a first synchronous pulley 106 between the first knuckle arm 100 and the second knuckle arm 101 is relatively fixed with the first knuckle arm 100; the second timing pulley 107 and the second link arm 102 are fixed relative to each other.
In an alternative embodiment, the rotating shaft assembly 114 disposed between every two adjacent knuckle arms and between the previous knuckle arm and the next knuckle arm includes a shaft core 1140 and a sleeve 1141 sleeved outside the shaft core and rotatable relative to the shaft core, the shaft core 1140 is fixed on the first end of the next knuckle arm, the sleeve 1141 is fixed on the second end of the previous knuckle arm, the first synchronous pulley 106 is fixed on the shaft core, and the second synchronous pulley 107 is fixed on the sleeve 1141.
As shown in fig. 3, which is the first way of connecting the arm of the previous joint to the arm of the next joint, it can be seen that the first synchronous pulley 106 is fixed to the shaft core 1140 and the second synchronous pulley 107 is fixed to the sleeve 1141.
In another alternative embodiment, the rotating shaft assembly 114 disposed between each two adjacent knuckle arms and between the previous knuckle arm and the next knuckle arm includes a shaft core 1140 and a sleeve 1141 sleeved outside the shaft core and rotatable relative to the shaft core, the shaft core 1140 is fixed to the first end of the next knuckle arm, the sleeve 1141 is fixed to the second end of the previous knuckle arm, the second synchronous pulley 107 is fixed to the shaft core 1140, and the second synchronous pulley 107 is fixed to the sleeve 1141.
As shown in fig. 4, which is another connection between the previous and subsequent arms, it can be seen that the second synchronous pulley 107 is fixed to the shaft core 1140 and the first synchronous pulley 106 is fixed to the sleeve 1141.
Specifically, the diameter of the shaft core 1140 is smaller than the size of the first synchronous pulley 106;
the diameter dimension of the shaft core 1140 is smaller than the dimension of the second timing pulley 107.
As shown in fig. 3 and 4, in order to pass the first timing pulley 106 and the second timing pulley 107 through the shaft core 1140, the diameter size of the shaft core 1140 is smaller than the size of the first timing pulley 106 and the second timing pulley 107.
In another embodiment, the first timing pulley 106 is fixed to the second end of the preceding link arm and the second timing pulley 107 is fixed to the first end of the succeeding link arm between each adjacent two link arms.
As shown in fig. 5, in order to realize the second mode of fixing the first timing pulley 106 and the second end of the preceding link arm relative to each other, the second timing pulley 107 and the first end of the succeeding link arm relative to each other are fixed, wherein a denotes the first end of the succeeding link arm, and b denotes the second end of the preceding link arm; as can be seen, since the second timing pulley 107 is fixed to the first end of the rear-stage link arm, the second timing pulley 107 moves while driving the rear-stage link arm; because the first synchronous pulley 106 is fixed at the second end of the previous-stage knuckle arm, relative motion will be generated between the previous-stage knuckle arm and the next-stage knuckle arm due to the principle of relative motion, and the whole mechanical arm can swing.
The driving device 110 is a steering engine or a stepping motor.
The driving device 110 is the driving force of the whole mechanical arm, and the steering engine and the stepping motor are suitable for the mechanical arm and can provide good driving force for the whole mechanical arm.
Specifically, in order to better maintain the stability of the driving motor, the head knuckle arm is provided with a through hole for mounting the driving device 110, and the axis of the through hole is parallel to the fixing plate.
The driving device 110 is installed at one side of the head end knuckle arm connected to the fixed plate, and in order to better maintain the stability of the driving motor, a through hole 114 is formed in the direction parallel to the fixed plate at the head end knuckle arm, and the through hole 114 is formed at the head end knuckle arm opposite to the third synchronous pulley 109;
in a specific implementation, one end of the driving device 110 is connected to the third timing pulley 109 after passing through the through hole, and when the driving device 110 is started, the third timing pulley 109 will rotate simultaneously with the driving device.
Specifically, the timing belt 111 is a rubber timing belt; or,
the timing belt 111 is a polyurethane timing belt.
The synchronous belt is mainly used for connecting a third synchronous belt wheel 109 of the head-end knuckle arm with a second synchronous belt wheel relatively fixed to the second knuckle arm, a first synchronous belt wheel 106 on the second knuckle arm relatively fixed to the first knuckle arm, a second synchronous belt wheel 107 between the second knuckle arm and the third knuckle arm relatively fixed to the second knuckle arm and the like, and every two knuckle arms are connected;
the rubber synchronous belt 111 and the polyurethane synchronous belt have good high-temperature resistance, are high-quality synchronous belts and are widely applied to the field of automatic control.
The utility model also provides a robot, including the arbitrary arm mentioned in the above-mentioned embodiment.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. The mechanical arm is characterized by comprising at least three sections of arms and a fixing plate; wherein:
each two adjacent knuckle arms are rotationally connected through a rotating shaft assembly, a first synchronous belt wheel and a second synchronous belt wheel are arranged on the rotating shaft assembly, the first synchronous belt wheel is relatively fixed with the second end of the previous knuckle arm, the second synchronous belt wheel is relatively fixed with the first end of the next knuckle arm, and in each knuckle arm, the first synchronous belt wheel at the joint of the first synchronous belt wheel and the second synchronous belt wheel at the joint of the second synchronous belt wheel and the next knuckle arm are connected through a synchronous belt;
the first end of the head end knuckle arm is fixed on the fixing plate and is provided with a third synchronous pulley and a driving device for driving the third synchronous pulley to act, and the third synchronous pulley is connected with a second synchronous pulley which is relatively fixed with the first end of the next-stage knuckle arm connected with the second end of the head end knuckle arm through a synchronous belt;
the second end of end knuckle arm is provided with can for end knuckle arm is rotatory around self axial lead, with platform installation axle and the fourth synchronous pulley that is used for the erection equipment platform, just fourth synchronous pulley with platform installation pivot subassembly fixed connection, and with pass through the hold-in range connection between the first synchronous pulley of the second end relative fixation of the preceding stage knuckle arm of end knuckle arm.
2. The mechanical arm as claimed in claim 1, wherein the rotation shaft assembly disposed between each two adjacent knuckle arms and between the front knuckle arm and the rear knuckle arm comprises a shaft core and a sleeve disposed outside the shaft core and rotatable relative to the shaft core, the shaft core is fixed to a first end of the rear knuckle arm, the sleeve is fixed to a second end of the front knuckle arm, the first synchronous pulley is fixed to the shaft core, and the second synchronous pulley is fixed to the sleeve.
3. The mechanical arm as claimed in claim 1, wherein the rotation shaft assembly disposed between each two adjacent knuckle arms and between the previous knuckle arm and the next knuckle arm comprises a shaft core and a sleeve which is sleeved outside the shaft core and can rotate relative to the shaft core, the shaft core is fixed on the first end of the next knuckle arm, the sleeve is fixed on the second end of the previous knuckle arm, the second synchronous pulley is fixed on the shaft core, and the first synchronous pulley is fixed on the sleeve.
4. A robotic arm as claimed in claim 2 or 3, in which the diameter of the core is of a size less than that of the first synchronous pulley;
the diameter size of the shaft core is smaller than the size of the second synchronous pulley.
5. The mechanical arm as claimed in claim 1, wherein between each adjacent two knuckle arms, said first timing pulley is fixed to a second end of said preceding knuckle arm, and said second timing pulley is fixed to a first end of said succeeding knuckle arm.
6. A robotic arm as claimed in claim 1, in which the drive means is a steering engine or a stepper motor.
7. A robotic arm as claimed in claim 1, in which the head knuckle arm is provided with a through hole for mounting the drive means, the axis of the through hole being parallel to the mounting plate.
8. A robotic arm as claimed in claim 1, in which the timing belt is a rubber timing belt; or,
the synchronous belt is a polyurethane synchronous belt.
9. A robot comprising any of the above-described robot arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820497438.9U CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820497438.9U CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117831U true CN208117831U (en) | 2018-11-20 |
Family
ID=64189961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820497438.9U Active CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117831U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849054A (en) * | 2019-02-18 | 2019-06-07 | 浙江大华机器人技术有限公司 | Mechanical arm anti-shake apparatus and anti-fluttering method |
| CN112123314A (en) * | 2020-09-23 | 2020-12-25 | 温州职业技术学院 | Line patrol mobile carrying robot |
-
2018
- 2018-04-09 CN CN201820497438.9U patent/CN208117831U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849054A (en) * | 2019-02-18 | 2019-06-07 | 浙江大华机器人技术有限公司 | Mechanical arm anti-shake apparatus and anti-fluttering method |
| CN109849054B (en) * | 2019-02-18 | 2021-02-26 | 浙江华睿科技有限公司 | Mechanical arm anti-shaking device and anti-shaking method |
| CN112123314A (en) * | 2020-09-23 | 2020-12-25 | 温州职业技术学院 | Line patrol mobile carrying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105501422B (en) | All deflection propeller vector propulsion mechanism and underwater vehicle | |
| KR101683325B1 (en) | articulated robot wrist | |
| US7857727B2 (en) | Concentric joint mechanism capable of rotating with multiple degrees of freedom | |
| EP1519345A2 (en) | An arm assembly for a crash test dummy | |
| KR20020011709A (en) | multiple-legged walking apparatus | |
| CN102346482A (en) | In-situ steering wheel type robot base mechanism | |
| US7420346B2 (en) | Drive arrangement for a wiper device for windows of motor vehicles | |
| RU2015145952A (en) | BIDIRECTIONAL SYSTEM OF THE ELEMENT | |
| US20240383592A1 (en) | Biomimetic Underwater Vehicle | |
| CN206218046U (en) | Spherical transfer robot | |
| CN107054495B (en) | A kind of town road robot | |
| US8869644B2 (en) | Articulated robot wrist | |
| CN107719513A (en) | A kind of cross-country vehicle chassis component and robot assembly | |
| CN106979433A (en) | A kind of screw-pushing type pipe robot | |
| CN214165269U (en) | Stay-supported type robot fish multi-joint mechanism | |
| CN110561489A (en) | Three-degree-of-freedom parallel driving joint | |
| CN103899720B (en) | For accurate power-transmission system can reverse driving reducing gear | |
| KR101141620B1 (en) | Joint structure of gripper for robot hand | |
| CN111660322B (en) | Novel robot arm | |
| CN210310928U (en) | A tethered drone | |
| CN208972760U (en) | High stability brush device | |
| CN113910213B (en) | Robot integrated driving flexible driver and driving method thereof | |
| CN210338036U (en) | All-wheel-driven and all-wheel-steering moving device | |
| CN216328329U (en) | Robot integrated driving flexible driver | |
| CN100360288C (en) | robot multi-degree-of-freedom joints |
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: 20201229 Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310053 shore road 1187 Patentee before: ZHEJIANG DAHUA TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Huarui Technology Co.,Ltd. Address before: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. |