CN208601523U - A kind of manipulator and set mould truss robot - Google Patents
A kind of manipulator and set mould truss robot Download PDFInfo
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- CN208601523U CN208601523U CN201821358074.2U CN201821358074U CN208601523U CN 208601523 U CN208601523 U CN 208601523U CN 201821358074 U CN201821358074 U CN 201821358074U CN 208601523 U CN208601523 U CN 208601523U
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- manipulator
- crossbeam
- connecting rod
- driving
- clamping bar
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Abstract
A kind of manipulator, including mounting rack, the one the second Buffer Unit, crossbeam, first driving device and handgrips；The crossbeam and the mounting rack are connected by the one the second Buffer Unit, and the one the second Buffer Unit is for reducing the crossbeam to the rigid shock of the mounting rack；The handgrip and the crossbeam are slidably connected, and the first driving device is for driving the handgrip to slide along the crossbeam.Above-mentioned manipulator, the one the second Buffer Units are realized flexible for reducing crossbeam to the rigid shock of mounting rack, to reduce the rigid shock that manipulator is subject in the process of grasping, improve the precision and service life of manipulator.In addition, also providing a kind of mould truss robot is set including above-mentioned manipulator.
Description
Technical field
This application involves robot building technical fields, more particularly to a kind of manipulator and set mould truss robot.
Background technique
Current handgrip generally uses the hinged pattern of connecting rod, and handgrip is mostly rigid structure, handgrip in setting mold process by
When impact, rigid contact can be met, impact rigidly can only be absorbed by handgrip overall structure, causes manipulator by rigid shock,
Influence precision and service life.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is to provide a kind of manipulator and setting mould truss machine
People solves the problems, such as that traditional handgrip overall structure by rigid shock, improves the precision and use of handgrip in the process of grasping
Service life.
The technical scheme that the utility model is provided is as follows:
A kind of manipulator, including mounting rack, the first Buffer Unit, crossbeam, first driving device and handgrip；
The crossbeam is connected with the mounting rack by first Buffer Unit, and first Buffer Unit is for reducing
Rigid shock of the crossbeam to the mounting rack；
The handgrip and the crossbeam are slidably connected, and the first driving device is for driving the handgrip along the crossbeam
Sliding.
Preferably, first Buffer Unit includes the first sliding rail, the first sliding block and two cylinders, and first sliding rail is solid
Surely it is set on the mounting rack, first sliding block is set on first sliding rail, and it is sliding that two cylinders are respectively arranged on first
The both ends of block, when two cylinders stretch out, two cylinders fix the position of first sliding block, two gas
When at least one of cylinder retracts, first sliding block has slidably space, the crossbeam and institute on first sliding rail
The first sliding block is stated to be fixedly connected.
Preferably, the handgrip includes fixed frame, floating shelf, the second Buffer Unit and clamping jaw；
The fixed frame and the crossbeam are slidably connected；
Second Buffer Unit includes slidiing pin and bolster, and one end of the slidiing pin and the floating shelf are solid
Fixed connection, the other end of the slidiing pin are arranged on the fixed frame, and the slidiing pin can relative to the fixed frame
Sliding, one end of the bolster are fixedly connected with the floating shelf, and the other end of the bolster and the fixed frame are fixed
Connection；
The clamping jaw is set on the floating shelf.
Preferably, second Buffer Unit further includes sliding shaft sleeve, and the sliding shaft sleeve and the fixed frame interference are matched
Close, the slidiing pin be set to the sliding shaft sleeve in, the slidiing pin relative to the sliding shaft sleeve slidably.
Preferably, the bolster is resilient plunger, and one end of the resilient plunger is fixedly connected with the floating shelf, institute
The outer ring for stating the other end of resilient plunger is fixedly connected with the fixed frame.
Preferably, the clamping jaw includes the first clamping bar and the second clamping bar, first clamping bar and second clamping bar and
The floating shelf is slidably connected；
The handgrip further includes the second driving device, and first clamping bar and second clamping bar drive with described second respectively
The driving end connection of dynamic device, second driving device is for driving first clamping bar and second clamping bar close to each other
Or it is separate.
Preferably, second driving device includes driver, first connecting rod and second connecting rod, and the one of the first connecting rod
End and one end of the second connecting rod is equal connects with the driving end of the driver, the other end of the first connecting rod and described the
The connection of one clamping bar, the other end of the second connecting rod are connected with second clamping bar.
Preferably, the quantity of the handgrip is two, and described two handgrips are respectively arranged on the both ends of the crossbeam；
The first driving device includes stepper motor, the first lead screw and the second lead screw, and the stepper motor is double shafts
Motor, the stepper motor are set on the crossbeam, one end of first lead screw and the first output end of the stepper motor
Connection, the other end of first lead screw are connected with one end of the crossbeam, one end of second lead screw and stepping electricity
The second output terminal of machine connects, and the other end of second lead screw is connected with the other end of the crossbeam, described two handgrips point
It is not sheathed on first lead screw and second lead screw.
One kind setting mould truss robot, the above-mentioned manipulator including bracket and on the bracket, the bracket packet
Supporting leg, whippletree, connecting rod and vertical bar are included, the quantity of the whippletree is two, and two whippletrees are set to the supporting leg in parallel
On, the both ends of the connecting rod are slidably connected with two whippletrees respectively, and the vertical bar is slidably set on the connecting rod, and institute
It states vertical bar to be arranged perpendicular to the plane where the whippletree and the connecting rod, the vertical bar can be slided along the length direction of the connecting rod
Dynamic, slidably along the direction perpendicular to the connecting rod, the manipulator is set in the vertical bar vertical bar.
It preferably, further include the third driving device being fixedly connected with the vertical bar, the driving of the third driving device
End is fixedly connected with the mounting rack of the manipulator, and the third driving device is for driving the manipulator to rotate.
Above-mentioned manipulator, the first Buffer Unit realize flexibility, to subtract for reducing crossbeam to the rigid shock of mounting rack
The rigid shock that few manipulator is subject in the process of grasping, improves the precision and service life of manipulator.
Above-mentioned to set mould truss robot, by using above-mentioned manipulator, the first Buffer Unit is for reducing crossbeam to installation
The rigid shock of frame realizes flexibility, to reduce the rigid shock that manipulator is subject in the process of grasping, improves the essence of manipulator
Degree and service life.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram at a visual angle of manipulator provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram at another visual angle of manipulator shown in FIG. 1；
Fig. 3 is a kind of structural schematic diagram at a visual angle of handgrip provided by the embodiment of the utility model；
Fig. 4 is the structural schematic diagram at another visual angle of handgrip shown in Fig. 3；
Fig. 5 is the structural schematic diagram at the another visual angle of handgrip shown in Fig. 3；
Fig. 6 is a kind of structural schematic diagram for setting mould truss robot provided by the embodiment of the utility model；
Fig. 7 is a kind of structural schematic diagram of manipulator and third driving device provided by the embodiment of the utility model.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
The application protection all should belong in technical staff's every other embodiment obtained without making creative work
Range.
Fig. 1 and Fig. 2, a kind of manipulator 100, including mounting rack 10, the first Buffer Unit, crossbeam 30, first is please referred to drive
Dynamic device and handgrip 40.
Crossbeam 30 is connected with mounting rack 10 by the first Buffer Unit, and the first Buffer Unit is for reducing by 30 pairs of crossbeam installations
The rigid shock of frame 10.
Handgrip 40 and crossbeam 30 are slidably connected, and first driving device is for driving handgrip 40 to slide along crossbeam 30.
Above-mentioned manipulator 100, crossbeam 30 and mounting rack 10 are connected by the first Buffer Unit, and the first Buffer Unit is for subtracting
Few crossbeam 30 realizes flexibility, to reduce the rigidity that manipulator 100 is subject in the process of grasping to the rigid shock of mounting rack 10
Impact improves the precision and service life of manipulator 100.
Wherein, mounting rack 10 is flange.First Buffer Unit is set to the bottom of flange.Mounting rack 10 is used for manipulator 100
Fixed installation.
Wherein, the first Buffer Unit includes the first sliding rail (figure is not marked), the first sliding block 26 and two cylinders 22, the first sliding rail
It is fixed on mounting rack 10, the first sliding block 26 is set on the first sliding rail, and two cylinders 22 are respectively arranged on the two of the first sliding block 26
End, when two cylinders 22 stretch out, two cylinders 22 fix the position of the first sliding block 26, at least one of two cylinders 22
When retraction, the first sliding block 26 has slidably space on the first sliding rail.Crossbeam 30 is fixedly connected with the first sliding block 26.
Cylinder 22 is used to limit the sliding of the first sliding block 26, and when two cylinders 22 stretch out, two cylinders 22 are sliding by first
The position of block 26 is fixed, and the position of crossbeam 30 is fixed between two parties, when at least one of two cylinders 22 retract, at the first sliding block 26
In free state, the first sliding block 26 drive crossbeam 30 along the first sliding rail slidably, when handgrip 40 needs to place mold or crawl mould
When tool, if horizontal direction has error, the first sliding block 26 can provide freedom degree on the first sliding rail, and water may be implemented in handgrip 40
Square upward left and right adjusting, realizes flexible, to reduce the rigid shock that manipulator 100 is subject in the process of grasping, improves
The precision and service life of manipulator 100.
Wherein, the quantity of handgrip 40 is two, and two handgrips 40 are respectively arranged on the both ends of crossbeam 30.
Wherein, it is double that first driving device, which includes stepper motor 52, the first lead screw 54 and the second lead screw 56, stepper motor 52,
Output shaft electric machine, stepper motor 52 are set on crossbeam 30, and one end of the first lead screw 54 is connected with the first output end of stepper motor 52,
The other end of first lead screw 54 is connected with one end of crossbeam 30, one end of the second lead screw 56 and the second output terminal of stepper motor 52
Connection, the other end of the second lead screw 56 are connected with the other end of crossbeam 30, and two handgrips 40 are sheathed on 54 He of the first lead screw respectively
On second lead screw 56.Stepper motor 52 is for driving two 40 synchronizing movings of handgrip.
Wherein, Fig. 3, Fig. 4 and Fig. 5 are please referred to, handgrip 40 includes fixed frame 42, floating shelf 44, the second Buffer Unit and folder
Pawl.
Fixed frame 42 and crossbeam 30 are slidably connected.
Second Buffer Unit includes slidiing pin 45 and bolster, and one end of slidiing pin 45 and floating shelf 44, which are fixed, to be connected
Connect, the other end of slidiing pin 45 is arranged on fixed frame 42, slidiing pin 45 relative to fixed frame 42 slidably, bolster
One end is fixedly connected with floating shelf 44, and the other end of bolster is fixedly connected with fixed frame 42.
Clamping jaw is set on floating shelf 44.
Above-mentioned handgrip 40 is connected by passing through the second Buffer Unit between fixed frame 42 and floating shelf 44, and impact force is from folder
When pawl is transmitted to floating shelf 44, floating shelf 44 can be driven to carry out relative motion relative to fixed frame 42, meanwhile, 42 He of fixed frame
Bolster between floating shelf 44 can also buffer 44 bring impact force of floating shelf, so that the second Buffer Unit be made effectively to buffer
Impact force between fixed frame 42 and floating shelf 44 guarantees that clamping jaw has certain elastic buffer distance in vertical direction, solves
Rigid shock problem on handgrip 40 vertical direction reduces the rigidity on the vertical direction that handgrip 40 is subject in the process of grasping
Impact improves the precision and service life of handgrip 40.
Therefore, above-mentioned manipulator 100 can horizontally slip adjusting in the horizontal direction, can also slide up in the vertical direction
It is dynamic to adjust, the rigid shock that manipulator 100 is subject in the process of grasping can be reduced, improve entire manipulator 100 precision and
Service life.
Wherein, the second Buffer Unit further includes sliding shaft sleeve 43, and sliding shaft sleeve 43 and fixed frame 42 are interference fitted, sliding pin
Axis 45 be set to sliding shaft sleeve 43 in, slidiing pin 45 relative to sliding shaft sleeve 43 slidably.By being arranged on slidiing pin 45
Sliding shaft sleeve 43, can reduce force of sliding friction, to make to slide between fixed frame 42 and floating shelf 44 more smoothly.
Specifically, the bolster is resilient plunger 41, one end of resilient plunger 41 is fixedly connected with floating shelf 44, elasticity
The outer ring of the other end of plunger 41 is fixedly connected with fixed frame 42.It is appreciated that in other embodiments, bolster may be
Other devices with pooling feature.
Wherein, clamping jaw includes the first clamping bar 46 and the second clamping bar 48, and the first clamping bar 46 and the second clamping bar 48 are and floating shelf
44 are slidably connected.
Wherein, handgrip 40 further includes the second driving device, and the first clamping bar 46 and the second clamping bar 48 are filled with the second driving respectively
The driving end connection set, the second driving device are close to each other or separate for driving the first clamping bar 46 and the second clamping bar 48.
Specifically, the first clamping bar 46 and the second clamping bar 48 are slidably connected with floating shelf 44 far from the surface of fixed frame 42,
The side of first clamping bar 46 is connected with the driving end of the second driving device respectively with the side of the second clamping bar 48.At this point, second drives
Dynamic device is arranged vertically with clamping jaw, and longitudinal space occupies small, the small operating condition use of suitable longitudinal space.
Further, the second driving device includes driver 47, first connecting rod 491 and second connecting rod 493, first connecting rod
491 one end and one end of second connecting rod 493 are connected with the driving end of driver 47, the other end of first connecting rod 491 and the
The connection of one clamping bar 46, the other end of second connecting rod 493 and the connection of the second clamping bar 48.Driver 47 is for driving first connecting rod 491
It opens and draws close with second connecting rod 493, to drive the first clamping bar 46 and the second clamping bar 48 close to each other and separate.
Specifically, floating shelf 44 includes clamping jaw fixed plate and driver mounting plate, clamping jaw fixed plate and driver mounting plate
L-shaped setting, clamping jaw and clamping jaw fixed plate are slidably connected, and driver 47 is installed on driver mounting plate.
Specifically, driver 47 is cylinder.By the flexible of cylinder, first connecting rod 491 and second connecting rod 493 can be driven
It opens and draws close, to drive the first clamping bar 46 and the second clamping bar 48 close to each other and separate.
Wherein, floating shelf 44 is equipped with the second sliding rail 442 far from the surface of fixed frame 42, and the one end of the first clamping bar 46 is equipped with
It is equipped with and the matched third of the second sliding rail 442 with the one end of matched second sliding block 462 of the second sliding rail 442, the second clamping bar 48
Sliding block 482, the first clamping bar 46 are connected by the second sliding block 462 and the second sliding rail 442, and the second clamping bar 48 passes through third sliding block 482
It is connected with the second sliding rail 442, the first clamping bar 46 and the second clamping bar 48 are respectively arranged on the both ends of the second sliding rail 442.First clamping bar 46,
By being slidably connected between second clamping bar 48 and floating shelf 44, structure is simple, and failure rate is low, and installation space is small.
Specifically, in the embodiment shown in fig. 3, the quantity of the second sliding rail 442 is two, and two the second sliding rails 442 are flat
Row setting, the quantity of the second sliding block 462 are two pieces, and two piece of second sliding block 462 is respectively arranged on the two sides of 46 end of the first clamping bar, two
The second sliding block of block 462 is respectively arranged on two the second sliding rails 442, and the quantity of third sliding block 482 is two pieces, two pieces of third sliding blocks
482 are respectively arranged on the two sides of 48 end of the second clamping bar, and two pieces of third sliding blocks 482 are respectively arranged on two the second sliding rails 442.Pass through
Two the second sliding rails 442, two piece of second sliding block 462 and two pieces of third sliding blocks 482 are set, the first clamping bar 46 and the second clamping bar can be made
48 sliding is more steady.
Specifically, in the embodiment shown in fig. 1, the quantity of slidiing pin 45 is four, and four slidiing pins 45 are in square
Shape distribution.By the way that four slidiing pins 45 are arranged, the stability slided between fixed frame 42 and floating shelf 44 can be increased.
Specifically, in the embodiment shown in fig. 1, the quantity of resilient plunger 41 is four, and four resilient plungers 41 are in square
Shape distribution.By the way that four resilient plungers 41 are arranged, cushion performance between fixed frame 42 and floating shelf 44 can be increased.
Referring to FIG. 6, one kind sets mould truss robot, the above-mentioned manipulator 100 including bracket and on bracket.Branch
Frame includes supporting leg 62, whippletree 64, connecting rod 66 and vertical bar 68, and the quantity of whippletree 64 is two, and two whippletrees 64 are set to branch in parallel
In support leg 62, the both ends of connecting rod 66 are slidably connected with two whippletrees 64 respectively, and vertical bar 68 is slidably set on connecting rod 66, and vertical bar
68 are arranged perpendicular to the plane where whippletree 64 and connecting rod 66, vertical bar 68 along the connecting rod 66 length direction slidably, vertical bar
68 along perpendicular to the connecting rod 66 direction slidably.Manipulator 100 is set in vertical bar 68.The structure of manipulator 100 is for example above
Described, details are not described herein.
Above-mentioned to set mould truss robot, by using above-mentioned manipulator 100, the first Buffer Unit is for reducing crossbeam to peace
The rigid shock shelved realizes flexibility, to reduce the rigid shock that manipulator 100 is subject in the process of grasping, improves mechanical
The precision and service life of hand 100.
Specifically, manipulator 100 is set to the one end directed downwardly of vertical bar 68.It is X-axis with whippletree 64, connecting rod 66 is Y-axis, vertical bar 68
Manipulator 100 can be driven to realize along X-axis, Y-axis by the relative motion between whippletree 64, connecting rod 66 and vertical bar 68 for Z axis
With the movement on Z axis.
Referring to FIG. 7, setting mould truss robot further includes the third driving device being fixedly connected with vertical bar 68, third driving
The driving end of device is fixedly connected with the mounting rack of manipulator, and third driving device is rotated for driving manipulator.Pass through setting
The rotary motion of manipulator may be implemented in third driving device.
Above-mentioned to set mould truss robot, it can be achieved that horizontal plane both direction is mobile, vertical plane is moved up and down and is rotated, gathering around
It is there are four the lateral adjustments on the basis of the freedom degree in direction, increasing handgrip system mobile, it can be achieved that different length, different
The crawl of the mold of specification, it is adaptable, it is compact-sized, it is with the obvious advantage.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (10)
1. a kind of manipulator, which is characterized in that including mounting rack, the first Buffer Unit, crossbeam, first driving device and handgrip；
The crossbeam is connected with the mounting rack by first Buffer Unit, and first Buffer Unit is described for reducing
Rigid shock of the crossbeam to the mounting rack；
The handgrip and the crossbeam are slidably connected, and the first driving device is for driving the handgrip sliding along the crossbeam
It is dynamic.
2. manipulator as described in claim 1, which is characterized in that first Buffer Unit is slided including the first sliding rail, first
Block and two cylinders, first sliding rail are fixed on the mounting rack, and first sliding block is set on first sliding rail,
Two cylinders are respectively arranged on the both ends of the first sliding block, and when two cylinders stretch out, two cylinders are by described
The position of one sliding block is fixed, and when at least one of two described cylinders retract, first sliding block is on first sliding rail
With slidably space；The crossbeam is fixedly connected with first sliding block.
3. manipulator as described in claim 1, which is characterized in that the handgrip includes fixed frame, floating shelf, the second buffering group
Part and clamping jaw；
The fixed frame and the crossbeam are slidably connected；
Second Buffer Unit includes slidiing pin and bolster, and one end of the slidiing pin and the floating shelf, which are fixed, to be connected
Connect, the other end of the slidiing pin is arranged on the fixed frame, the slidiing pin relative to the fixed frame slidably,
One end of the bolster is fixedly connected with the floating shelf, and the other end of the bolster is fixedly connected with the fixed frame；
The clamping jaw is set on the floating shelf.
4. manipulator as claimed in claim 3, which is characterized in that second Buffer Unit further includes sliding shaft sleeve, described
Sliding shaft sleeve and fixed frame interference fit, the slidiing pin are set in the sliding shaft sleeve, and the slidiing pin is opposite
Slidably in the sliding shaft sleeve.
5. manipulator as claimed in claim 3, which is characterized in that the bolster is resilient plunger, the resilient plunger
One end is fixedly connected with the floating shelf, and the outer ring of the other end of the resilient plunger is fixedly connected with the fixed frame.
6. manipulator as claimed in claim 3, which is characterized in that the clamping jaw includes the first clamping bar and the second clamping bar, described
First clamping bar and second clamping bar are slidably connected with the floating shelf；
The handgrip further includes the second driving device, and first clamping bar and second clamping bar are filled with second driving respectively
The driving end connection set, second driving device is for driving first clamping bar and second clamping bar close to each other or remote
From.
7. manipulator as claimed in claim 6, which is characterized in that second driving device includes driver, first connecting rod
And second connecting rod, one end of the first connecting rod are connected with the driving end of the driver with one end of the second connecting rod,
The other end of the first connecting rod is connected with first clamping bar, and the other end of the second connecting rod and second clamping bar connect
It connects.
8. manipulator as described in claim 1, which is characterized in that the quantity of the handgrip is two, described two handgrips point
Not She Yu the crossbeam both ends；
The first driving device includes stepper motor, the first lead screw and the second lead screw, and the stepper motor is double output shaft electric machines,
The stepper motor is set on the crossbeam, and one end of first lead screw is connected with the first output end of the stepper motor,
The other end of first lead screw is connected with one end of the crossbeam, and the of one end of second lead screw and the stepper motor
The connection of two output ends, the other end of second lead screw are connected with the other end of the crossbeam, and described two handgrips are arranged respectively
In on first lead screw and second lead screw.
9. one kind sets mould truss robot, which is characterized in that including bracket and on the bracket such as claim 1-8
Any one of described in manipulator, the bracket includes supporting leg, whippletree, connecting rod and vertical bar, and the quantity of the whippletree is two,
Two whippletrees are set in parallel on the supporting leg, and the both ends of the connecting rod are slidably connected with two whippletrees respectively, institute
It states vertical bar to be slidably set on the connecting rod, and the vertical bar is arranged perpendicular to the plane where the whippletree and the connecting rod,
The vertical bar along the connecting rod length direction slidably, the vertical bar along the direction perpendicular to the connecting rod slidably, it is described
Manipulator is set in the vertical bar.
10. setting mould truss robot as claimed in claim 9, which is characterized in that further include being fixedly connected with the vertical bar
The driving end of third driving device, the third driving device is fixedly connected with the mounting rack of the manipulator, and described
Three driving devices are for driving the manipulator to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821358074.2U CN208601523U (en) | 2018-08-22 | 2018-08-22 | A kind of manipulator and set mould truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821358074.2U CN208601523U (en) | 2018-08-22 | 2018-08-22 | A kind of manipulator and set mould truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208601523U true CN208601523U (en) | 2019-03-15 |
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ID=65680702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821358074.2U Active CN208601523U (en) | 2018-08-22 | 2018-08-22 | A kind of manipulator and set mould truss robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
| CN110181494A (en) * | 2019-06-27 | 2019-08-30 | 上海大学 | A kind of two direction truss mechanism suitable for hanging upside down mechanical arm |
-
2018
- 2018-08-22 CN CN201821358074.2U patent/CN208601523U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
| CN110181494A (en) * | 2019-06-27 | 2019-08-30 | 上海大学 | A kind of two direction truss mechanism suitable for hanging upside down mechanical arm |
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Address after: 5 / F, office building 2, Zhongmin zhuyou Co., Ltd., No. 10, Zhongshi Road, shaping street, Kaifu District, Changsha City, Hunan Province, 410000 Patentee after: Zhuyou Zhizao Technology Investment Co., Ltd Address before: No. 10, Zhongshi Road, Kaifu District, Changsha City, Hunan Province, 410205 Patentee before: Zhongmin Zhuyou Technology Investment Co.,Ltd. |