CN208681588U - A kind of belt tightness adjustment mechanism applied to SCARA robot - Google Patents
A kind of belt tightness adjustment mechanism applied to SCARA robot Download PDFInfo
- Publication number
- CN208681588U CN208681588U CN201721067635.9U CN201721067635U CN208681588U CN 208681588 U CN208681588 U CN 208681588U CN 201721067635 U CN201721067635 U CN 201721067635U CN 208681588 U CN208681588 U CN 208681588U
- Authority
- CN
- China
- Prior art keywords
- transmission gear
- belt
- adjustment mechanism
- tightness adjustment
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of belt tightness adjustment mechanisms applied to SCARA robot, comprising: pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating device, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The third rotary joint mechanism includes: third servo motor, belt tightness adjustment mechanism, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；4th rotating mechanism includes: the 4th servo motor, the second belt tightness adjustment mechanism, transmission gear C and transmission gear D；The space content between belt and transmission gear B between the transmission gear A, connection transmission gear A, B, which is received, transmission gear C, connection transmission gear C, D belt and transmission gear D.The utility model can also be adjusted, use is very convenient using the belt tightness adjustment mechanism that can be adjusted at any time even if SCARA robot is in operation at any time.
Description
Technical field
The utility model relates to a kind of SCARA robot, especially a kind of belt tension tune applied to SCARA robot
Save mechanism.
Background technique
SCARA robot is called and does selection compliance and put together machines arm, is a kind of specific type of circular cylindrical coordinate type
Industrial robot be also referred to as flapping articulation humanoid robot.The wrist part structure of current SCARA robot mainly uses ball
Lead screw spline shaft realizes vertical lift and the horizontal rotation of the 4th axis of third axis, is limited to the work fallen behind domestic at present
The mode of supplly of skill, ball-screw spline shaft is mainly import, and at high cost, delivery date is long, is unfavorable for the big of this kind of robot
Area promotes and applies.
To improve this status, numerous domestic scholar has also carried out Curve guide impeller to the wrist part structure of SCARA robot.
Lead screw, splined shaft, guide post are connected to by wrist part structure disclosed in CN203003891 and CN105500359 using triangular connecting plate
Below forearm, when the 3rd axis acts, follows mechanical mouth to go up and down jointly, need to occupy a large amount of working space, reduce robot
Flexibility and versatility.And upper two schemes of wrist part structure disclosed in CN105619395A are reasonable, however the structure of forearm is not
It arranges conducive to the installation of robot other parts, for example, to install the parts such as cylinder control valve door on support rod.Furthermore no matter
SCARA robot wrist is that ball-screw spline one axle construction or ball screw assembly, ball spline pair and guide post fission connect
Binding structure is the adaptability for clearly loading 25Kg operating condition.In 25Kg heavy load, the operating condition of quick compound movement, need
The now movable joint of current SCARA robot and wrist part structure are improved, to obtain enough rigidity and precision.
As shown in Figure 1, the SCARA robot of the prior art includes: base (5), large arm (6), forearm (7) and executes main shaft
(8), large arm (6), forearm (7) are horizontally disposed, execute main shaft (8) and are arranged in vertical.In base (5) and large arm
(6) rotation that a horizontal direction is respectively set between, between large arm (6) and forearm (7), between forearm (7) and execution main shaft (8) is closed
Section, while also in forearm (7) and executing the linear joint that one vertical direction of setting is mobile between main shaft (8).
Three rotary joints are respectively the first rotary joint mechanism, the second rotary joint mechanism, third rotary joint mechanism,
One linear joint is the 4th linear joint mechanism.
As shown in Fig. 2, the first rotary joint mechanism, is arranged between base (5) and large arm (6), including rotary joint A,
The top of driving mechanism A, base (5) are connect with large arm (6) inner end by the rotary joint A with horizontal freedom degree, driving machine
Structure A is mounted in base (5), and large arm (6) is driven by driving mechanism A and rotated in the horizontal direction around base.
Specific structure are as follows: rotary joint A includes bearing sleeve (11), bearing group (12), and driving mechanism A includes servo motor
(13), harmonic speed reducer (14).Bearing sleeve (11) is mounted on the top of base (5), bearing sleeve by bearing group (12)
(11) upper end is connected and fixed with large arm (6) inner end；Servo motor (13) and harmonic speed reducer (14) pass through connecting flange
(16) it is mounted on the inside of base, it is dynamic that the output shaft of servo motor (13) connect input with the wave producer of harmonic speed reducer (14)
The flexbile gear of power, harmonic speed reducer (14) is connected and fixed by flexbile gear flange (15) and the lower end of bearing sleeve (11).Wherein, bearing
Group (12) is double row tapered roller bearing or the single-row tapered roller bearing used in pairs.
Second rotary joint mechanism (2), as shown in figure 3, being arranged between large arm (6) and forearm (7), including rotary joint
B, the outer end of driving mechanism B, large arm (6) are connect with the inner end of forearm (7) by the rotary joint B with horizontal freedom degree, are driven
Motivation structure B is mounted in forearm (7), and forearm (7) is simultaneously rotated around large arm (6) by transmission component B driving in the horizontal direction.
Specific structure is that rotary joint B includes bearing sleeve (21), bearing group (22), and driving mechanism B includes servo motor
(23), harmonic speed reducer (24).Bearing sleeve (21) is mounted on the bottom of forearm (7), bearing sleeve by bearing group (22)
(21) lower end is connected and fixed with large arm (6) outer end；Servo motor (23) and harmonic speed reducer (24) are fixed in forearm (7)
The output shaft at the top at end, servo motor (23) connect input power, harmonic reduction with the wave producer of harmonic speed reducer (24)
The flexbile gear of device (24) is connected and fixed by flexbile gear flange (25) and the upper end of bearing sleeve (21).Wherein, bearing group (22) is double
Row tapered roller bearing or the single-row tapered roller bearing used in pairs.
In order to smoothly realize rotation driving and vertical lift to main shaft (8) are executed, rotation and vertical lift is avoided to transport
Dynamic interferes, and executes main shaft (8) and uses ball spline pair comprising splined shaft and the spline spiral shell with splined shaft cooperation
It is female.
As shown in figure 4, third rotary joint mechanism, is arranged on forearm (7), including rotary joint, driving mechanism, execute
The splined nut of main shaft (8) is mounted on forearm outer end by the rotary joint with horizontal freedom degree, and driving mechanism is mounted on small
In the middle part of arm (7), executes main shaft (8) and driven by driving mechanism in 7 outer end rotation of forearm.
Specific structure is that rotary joint includes spline flange (31), bearing group (32), and driving mechanism includes servo motor
(33), planet-gear speed reducer (34), active synchronization belt wheel (35), driven synchronous pulley (36) and synchronous belt.Spline flange
(31) it is built in forearm (7) outer end by bearing group (32), the splined nut and spline flange (31) screw thread for executing main shaft (8) connect
It connects；Servo motor (33) and planet-gear speed reducer (34) are fixed on the middle position of forearm (7), active synchronization belt wheel
(35), driven synchronous pulley (36) passes through synchronous band connection, and active synchronization belt wheel (35) is mounted on planet-gear speed reducer (34)
Output shaft on, driven synchronous pulley (36) is connected and fixed by belt wheel flange (37) with spline flange (31).Wherein, bearing group
It (32) is angular contact ball bearing group.
4th linear joint mechanism is arranged on forearm (7), is vertical driving mechanism, vertical driving mechanism and executes master
The splined shaft of axis (8) realizes the linkage of vertical direction by link block (9) connection.
Specific structure are as follows: vertical driving mechanism includes ball screw (41), screw flange (42), servo motor (43), master
Dynamic synchronous pulley (44), driven synchronous pulley (45) and synchronous belt, the nut and screw flange (42) screw thread of ball screw (41)
Connection, screw flange (42) are mounted in the middle part of forearm (7) by bearing group (49)；Active synchronization belt wheel (44), driven synchronous belt
It takes turns (45) and passes through synchronous band connection, active synchronization belt wheel (44) is mounted on the output shaft of servo motor (43), driven synchronous belt
Wheel (45) is connected and fixed by belt wheel flange (46) with screw flange (42).Vertical driving mechanism further includes guidance set, so as to
Operation precision when executing main shaft (8) work is improved, and is correspondingly improved the rigidity of mechanism.It includes guide post (47), linear bearing
(48), guide post (47) is vertically arranged, and guide post (47) is set with and linear bearing (48) fixed in the middle part of forearm (7), guide post (47) outside
Lower end and connect ball screw (41) screw rod and execute main shaft (8) splined shaft link block (9) it is fixed.Wherein, bearing group
It (49) is angular contact ball bearing group.
The prior art is primarily present following technological deficiency: being all fixed currently used for the drive mechanism in SCARA robot
Structure cannot facilitate adjusting, in the process of running, need to terminate operation program, then drive mechanism is removed, then install properly
The drive mechanism of size, it is very complicated, and influence working efficiency.
Utility model content
The purpose of this utility model is to provide a kind of belt tightness adjustment mechanisms applied to SCARA robot, not only
The load capacity of SCARA robot can be effectively improved, and structure is more compact, volume is smaller, low cost, user
Just.
The utility model is achieved through the following technical solutions:
A kind of belt tightness adjustment mechanism applied to SCARA robot, comprising: pedestal, rotation large arm, rotation forearm,
First rotating device, the second rotating device, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；
The pedestal is arranged in vertical, and has speed reducer and the first rotating device, the deceleration in the pedestal
Machine is connect with the first rotating device, one end of the first rotating device connection rotation large arm；
The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through the movable company of the first rotating device
It connects on the base, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, is arranged on the end of the rotation forearm
Second rotating device.
The middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, the third rotary joint
Mechanism includes: third servo motor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；Institute
It states third servo motor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B and is located at rotation forearm
The lower section of top, the third servo motor connects planetary reducer, i.e., the power output shaft of the described third servo motor passes through
Planetary reducer, power output end connect transmission gear A, and the transmission gear A connects transmission gear B by belt, described
Planetary reducer is fixed on the first belt tightness adjustment mechanism.
First belt tightness adjustment mechanism includes: the support plate being vertically fixed on rotation forearm, the support plate
Upper setting sliding equipment is fixedly connected with fixed plate on the sliding equipment, is fixedly connected with planetary reducer in the fixed plate.
Change the position of third servo motor, planetary reducer and transmission gear A by sliding equipment, i.e., changeable transmission
Spacing between gear A and transmission gear B, so as to adjust the elastic of connection transmission gear A and the belt of transmission gear B.
4th rotating mechanism includes: the 4th servo motor, the second belt tightness adjustment mechanism, transmission gear C and biography
Moving gear D；4th servo motor is fixed on the second belt tightness adjustment mechanism, and the power of the 4th servo motor is defeated
The output end of shaft connects transmission gear C, and the transmission gear C connects transmission gear D by belt.
Second belt tightness adjustment mechanism is identical as the structure of the first belt tightness adjustment mechanism, the belt tension
Regulating mechanism includes: the support plate being fixed on rotation forearm, sliding equipment square on the supporting plate, the sliding equipment is arranged
On be fixedly connected with the 4th servo motor.
Likewise, change the position of the 4th servo motor, transmission gear C by sliding equipment, i.e., changeable transmission gear C
The distance between transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
The space content between belt and transmission gear B between the transmission gear A, connection transmission gear A, B, which is received, to be had
Transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D with connect transmission gear A, B
Belt and connect transmission gear C, D belt all in same level, formed nested structure.
The utility model has the advantage of using the belt tightness adjustment mechanism that can be adjusted at any time, even if SCARA robot
In operation, it can also adjust at any time, use is very convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of SCARA robot in the prior art；
Fig. 2 is the sectional view of the pedestal of SCARA robot and the first rotating mechanism in the prior art；
Fig. 3 is the partial cutaway view of the second rotating mechanism of SCARA robot in the prior art；
Fig. 4 is SCARA robot third rotary joint mechanism and the 4th linear joint mechanism part section in the prior art
Figure；
Fig. 5 is the structural scheme of mechanism of the utility model embodiment；
Fig. 6 is the rotation forearm structure schematic diagram of the utility model embodiment；
Fig. 7 is the rotation forearm partial structural diagram of the utility model embodiment.
In Fig. 1: 5, pedestal；6, large arm；7, forearm；8, main shaft is executed；
In Fig. 2: 11, bearing sleeve；12, bearing group；13, servo motor；14, harmonic speed reducer；15, flexbile gear flange；16,
Flange；
In Fig. 3: 21, bearing sleeve；22, bearing group；23, servo motor；24, harmonic speed reducer；25, flexbile gear flange；
In Fig. 4: link block；31, spline flange；32, bearing group；33, servo motor；34, planet-gear speed reducing motor；
35, active synchronization belt wheel；36, driven synchronous pulley；37, belt wheel flange；41, ball screw；42, screw flange；43, servo electricity
Machine；44, active synchronization belt wheel；45, driven synchronous pulley；46, belt wheel flange；47, guide post；48, linear bearing；49, bearing group；
In Fig. 5: 51, pedestal；52, large arm is rotated；53, forearm is rotated；54, the second rotating device；55, third rotary joint
Mechanism；56, the 4th rotating mechanism；57, grasping mechanism；
In Fig. 6: 551, third servo motor；552, planetary reducer；553, the first belt tightness adjustment mechanism；554, it props up
Fagging；555, fixed plate；556, transmission gear A；557, transmission gear B；558, belt；561, the 4th servo motor；562,
Two belt tightness adjustment mechanisms；563, support plate；564, fixed plate；
In Fig. 7: 565, transmission gear C；566, transmission gear D；601, guide rail；602, dynamic balance connecting plate；603, screw rod；
604, spline.
Specific embodiment
The technical solution of the utility model is described further with reference to the accompanying drawing.
As illustrated in figs. 5-7, a kind of belt tightness adjustment mechanism applied to SCARA robot, comprising: pedestal 51, rotation
Large arm 52, rotation forearm 53, the first rotating device, the second rotating device 54, third rotary joint mechanism 55, the 4th rotating mechanism
56, grasping mechanism 57；
The pedestal 51 is arranged in vertical, and has speed reducer and the first rotating device in the pedestal, described to subtract
Fast machine is connect with the first rotating device, one end of the first rotating device connection rotation large arm 52；
The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through the movable company of the first rotating device
It connects on the base, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm 53, sets on the end of the rotation forearm
Set the second rotating device.
The middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, the third rotary joint
Mechanism include: third servo motor 551, planetary reducer 552, the first belt tightness adjustment mechanism 553, transmission gear A556,
Transmission gear B557；The third servo motor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear
B is located at the top of rotation forearm, and the lower section of the third servo motor connects planetary reducer, i.e., the described third servo motor
Power output shaft passes through planetary reducer, and power output end connects transmission gear A, and the transmission gear A is connected by belt
Transmission gear B, the planetary reducer are fixed on the first belt tightness adjustment mechanism.
First belt tightness adjustment mechanism includes: the support plate 554 being vertically fixed on rotation forearm, the support
Sliding equipment is set on plate, fixed plate 555 is fixedly connected on the sliding equipment, is fixedly connected with planetary reduction gear in the fixed plate
Machine.
Change the position of third servo motor, planetary reducer and transmission gear A by sliding equipment, i.e., changeable transmission
Spacing between gear A and transmission gear B, so as to adjust the elastic of the belt 558 for connecting transmission gear A and transmission gear B.
4th rotating mechanism includes: the 4th servo motor 561, the second belt tightness adjustment mechanism 562, transmission gear
C565 and transmission gear D566；4th servo motor is fixed on the second belt tightness adjustment mechanism, the 4th servo
The output end of the power output shaft of motor connects transmission gear C, and the transmission gear C connects transmission gear D by belt.
Second belt tightness adjustment mechanism is identical as the structure of the first belt tightness adjustment mechanism, the belt tension
Regulating mechanism includes: the support plate 563 being fixed on rotation forearm, sliding equipment, the skate machine is arranged in the support plate
It is fixedly connected with fixed plate 564 on structure, the 4th servo motor is fixedly connected in the fixed plate.
Likewise, change the position of the 4th servo motor, transmission gear C by sliding equipment, i.e., changeable transmission gear C
The distance between transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
The space content between belt and transmission gear B between the transmission gear A, connection transmission gear A, B, which is received, to be had
Transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D with connect transmission gear A, B
Belt and connect transmission gear C, D belt all in same level, formed nested structure.
Claims (3)
1. a kind of belt tightness adjustment mechanism of SCARA robot, comprising: pedestal, rotation large arm, rotation forearm, the first rotation
Device, the second rotating device, third rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is vertically set
It sets, there is speed reducer and the first rotating device in the pedestal, the speed reducer is connect with the first rotating device, and described first
One end of rotating device connection rotation large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through
First rotating device is movable to be connected on the base, therefore the rotation large arm can be rotated around pedestal；The rotation
The top connection of the other end of large arm rotates the end of forearm, setting the second rotation assembling device on the end of the rotation forearm,
It is characterized by: the middle part setting third rotary joint mechanism and the 4th rotating mechanism of the rotation forearm, the third rotation
Articulation mechanism includes: third servo motor, belt tightness adjustment mechanism, the first belt tightness adjustment mechanism, transmission gear A, passes
Moving gear B；The third servo motor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B are located at
The top of forearm is rotated, the lower section of the third servo motor connects belt tightness adjustment mechanism, i.e., the described third servo motor
Power output shaft pass through belt tightness adjustment mechanism, power output end connects transmission gear A, and the transmission gear A passes through
Belt connects transmission gear B, and the belt tightness adjustment mechanism is fixed on the first belt tightness adjustment mechanism；
4th rotating mechanism includes: the 4th servo motor, the second belt tightness adjustment mechanism, transmission gear C and driving cog
Take turns D；4th servo motor is fixed on the second belt tightness adjustment mechanism, the power output shaft of the 4th servo motor
Output end connect transmission gear C, the transmission gear C by belt connect transmission gear D, the transmission gear A, connection biography
Space content between belt between moving gear A, B and transmission gear B, which is received, transmission gear C, connection transmission gear C, D belt
And transmission gear D, so that transmission gear A, B, C, D are with the belt that connect transmission gear A, B and connect the belt of transmission gear C, D
All in the same horizontal line, nested structure is formed.
2. the belt tightness adjustment mechanism of SCARA robot according to claim 1, which is characterized in that first belt
Elasticity adjusting mechanism includes: the support plate being vertically fixed on rotation forearm, and sliding equipment, the cunning is arranged in the support plate
It is fixedly connected with fixed plate on motivation structure, is fixedly connected with belt tightness adjustment mechanism in the fixed plate；Changed by sliding equipment
The position of third servo motor, belt tightness adjustment mechanism and transmission gear A, i.e., changeable transmission gear A and transmission gear B it
Between spacing, so as to adjust the elastic of connection transmission gear A and the belt of transmission gear B.
3. the belt tightness adjustment mechanism of SCARA robot according to claim 1, which is characterized in that second skin
Identical as the structure of the first belt tightness adjustment mechanism with elasticity adjusting mechanism, the belt tightness adjustment mechanism includes: fixation
It is rotating the support plate on forearm, sliding equipment square on the supporting plate is set, be fixedly connected with the 4th on the sliding equipment and watch
Take motor；Change the position of the 4th servo motor, transmission gear C by sliding equipment, i.e., changeable transmission gear C and driving cog
The distance between D is taken turns, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067635.9U CN208681588U (en) | 2017-08-24 | 2017-08-24 | A kind of belt tightness adjustment mechanism applied to SCARA robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067635.9U CN208681588U (en) | 2017-08-24 | 2017-08-24 | A kind of belt tightness adjustment mechanism applied to SCARA robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208681588U true CN208681588U (en) | 2019-04-02 |
Family
ID=65874333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721067635.9U Expired - Fee Related CN208681588U (en) | 2017-08-24 | 2017-08-24 | A kind of belt tightness adjustment mechanism applied to SCARA robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208681588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023077721A1 (en) * | 2021-11-04 | 2023-05-11 | 辰星（天津）自动化设备有限公司 | Speed increasing mechanism for scara robot, and scara robot having speed increasing mechanism |
-
2017
- 2017-08-24 CN CN201721067635.9U patent/CN208681588U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023077721A1 (en) * | 2021-11-04 | 2023-05-11 | 辰星（天津）自动化设备有限公司 | Speed increasing mechanism for scara robot, and scara robot having speed increasing mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737577B (en) | A kind of Six-DOF industrial robot driven containing ball screw assembly, | |
| CN207736285U (en) | A kind of SCARA robots improving load capacity | |
| CN203792330U (en) | Self-adaption mechanical arm | |
| CN102615641B (en) | Five-degree-of-freedom parallel power head | |
| CN104723332B (en) | A kind of direct-drive type may be reversed wafer transfer robot | |
| CN110340910A (en) | A kind of small-sized static load balance belt drive tool arm | |
| CN206344134U (en) | It is a kind of to drive fixed two to rotate a mobile parallel connection mechanism | |
| CN206937359U (en) | A kind of high-speed drive manipulator | |
| CN208977805U (en) | A kind of five articulated robots | |
| CN106584429A (en) | Drive fixed two rotating and one movable parallel mechanism | |
| CN108161919A (en) | A kind of method and device for the SCARA robots for improving load capacity | |
| CN208681588U (en) | A kind of belt tightness adjustment mechanism applied to SCARA robot | |
| CN106584501A (en) | Two-degree-of-freedom joint mechanism | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN208645314U (en) | A kind of industrial robot installation chassis | |
| CN207359067U (en) | A kind of anti-collision device applied to SCARA robots | |
| CN207373168U (en) | A kind of rail structure applied to SCARA robots | |
| CN109702723A (en) | A kind of mechanical arm | |
| CN202062175U (en) | Parallel four-degree of freedom intersection line welding robot | |
| CN208801351U (en) | A kind of cosmetics box body clamp moving mechanism | |
| CN208496986U (en) | A kind of height-adjustable service robot | |
| CN209648728U (en) | A kind of mechanical arm | |
| CN206967487U (en) | A kind of Bevel Gear Transmission modularized joint mechanical arm | |
| CN208196784U (en) | A kind of movable type mechanical arm pedestal | |
| CN208812098U (en) | A kind of electronic slide unit of mechanical arm carrying out curved surface multi-angle rotation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190402 Termination date: 20200824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |