CN209078743U - A kind of three freedom degree manipulator structure with double end effector mechanisms - Google Patents
A kind of three freedom degree manipulator structure with double end effector mechanisms Download PDFInfo
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- CN209078743U CN209078743U CN201821539492.1U CN201821539492U CN209078743U CN 209078743 U CN209078743 U CN 209078743U CN 201821539492 U CN201821539492 U CN 201821539492U CN 209078743 U CN209078743 U CN 209078743U
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- bearing
- waist
- end effector
- arm
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Abstract
The utility model relates to one kind to have double end effector mechanism three freedom degree manipulator structures, including waist swing mechanism (1), arm platform lifting mechanism (2), arm telescoping mechanism (3) and end effector mechanism (4)；When the waist swing mechanism (1) turns round, the rotation of waist revolution cover (106) is realized, and then the device installed in waist revolution cover (106) is driven to rotate；By lead screw (202) and flange nut, (the 209 ball screw assembly, drivings constituted are realized along guide rod (206) to move up and down the arm platform lifting mechanism (2), the arm telescoping mechanism (3) is connected on arm platform (207), when the piston rod (304) of arm telescoping mechanism (3) is flexible, 2 end effector mechanisms (4) can be driven to be moved forward and backward；The advantage is that: the utility model is simple for structure, be conducive to improve the efficiency for clamping inner hole thin-walled parts, it is easy to promote and utilize.
Description
Technical field
The utility model relates to intelligent machine manufacturing technology field, in particular to a kind of robot device, espespecially a kind of tool
There are double end effector mechanism three freedom degree manipulator structures.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Its main feature is that various expected operations, construction and performance can be completed by programming
On have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and what is occurred earliest show
For robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment with
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The research of manipulator also functions to very big improvement result to the life of the mankind.Robot manipulator structure simple and flexible, is easy to
Operation, it is safe and reliable the advantages that related personnel study play very big help, for be developed later more complicate, human nature
Change, intelligentized bio-robot lays the foundation.But existing manipulator is all made of single end effector mechanism, in clamping inner hole
When thin-walled parts, there are inefficiency, and easily phenomena such as unbalance stress occur, physical damage are in turn resulted in, to actual use
Certain influence is brought in the process, for this purpose, it is proposed that a kind of three freedom degree manipulator knot with double end effector mechanisms
Structure improves the efficiency clamped to inner hole thin-walled parts.
Summary of the invention
The main purpose of the utility model is to provide one kind to have double end effector mechanism three freedom degree manipulator structures,
The problems in background technique can effectively be solved.
To achieve the above object, the utility model is achieved through the following technical solutions:
It includes waist swing mechanism, the lifting of arm platform that one kind, which having double end effector mechanism three freedom degree manipulator structures,
Mechanism, arm telescoping mechanism and end effector mechanism, the end effector mechanism have 2, and 2 end effector mechanisms are connected
On telescoping mechanism, 2 end effector mechanisms are realized in the presence of cylinder to be moved synchronously；The waist swing mechanism passes through
Bearing is connected on the base, the ball screw assembly, drives edge that the arm platform lifting mechanism is made of lead screw and flange nut
Guide rod realize and move up and down that the guide rod prevents arm platform and the mechanism that is installed on arm platform is on ball-screw
Rotation, the lead screw, guide rod are connected on waist swing mechanism, when the waist swing mechanism turns round, in the work of bearing
Under, the rotation of waist revolution cover is realized, and then the device for driving waist turn-around machine to cover installation rotates；The arm is stretched
Contracting mechanism is connected on arm platform, and arm telescoping mechanism power is fixed on from hydraulic cylinder, the end effector mechanism
On the piston rod of arm telescoping mechanism, when the piston rod of arm telescoping mechanism is flexible, shifting before and after 2 end effector mechanisms is driven
It is dynamic；The direction of motion of 2 end effector mechanism push rods is identical as the direction of motion of arm platform lifting mechanism, and and hand
The direction of motion of arm telescoping mechanism is vertical.
The waist swing mechanism includes pedestal, motor I, motor cabinet I, bearing (ball) cover I, deep groove ball bearing I, waist time
Favourable turn lid, axle sleeve I, key I；The arm platform lifting mechanism includes locking nut I, lead screw, axle sleeve II, taper roller axis
It holds, bearing (ball) cover II, guide rod, arm platform, guide sleeve, flange nut, top plate, lock-screw I, bearing (ball) cover III, locking
Screw II, felt collar, motor cabinet II, motor II, shaft coupling, locking nut II, axle sleeve III, deep groove ball bearing II；The hand
Arm telescoping mechanism includes hydraulic cylinder, hydraulic cylinder leg, linear bearing, piston rod, locknut, connection sleeve；The end
Executing agency includes cylinder, executing agency's fixed plate, chela, spring, push rod, elastic claw.
The pedestal fixes on the ground, and the motor I is connected on the base by motor cabinet, and the waist returns
Favourable turn lid is connected on the base by bearing, and bearing and pedestal, waist revolution cover are fixed together by the bearing (ball) cover,
Waist revolution cover is prevented to be detached from from pedestal；The output shaft of the motor I, is fixed together, axle sleeve is connected in axle sleeve
Waist turn-around machine covers, and when the motor I is rotated, under the action of bearing, realizes the rotation of waist revolution cover, and then band
Dynamic waist turn-around machine covers the device rotation of installation；Tapered roller bearing is installed on the revolution pedestal, is convenient for circular cone
Roller bearing is fixed together with ball screw assembly,.
The guide rod passes through the arm platform equipped with guide sleeve, and the guide rod is connected in waist revolution cover
On, one end is connected on top plate by key, and ball screw assembly, passes through arm platform, top plate, and one end is fixed on waist revolution cover
On, one end is fixed together by shaft coupling with the motor II for being fixed on motor cabinet, and deep-groove ball is equipped on the top plate
The inner ring of bearing, deep groove ball bearing passes through lead screw, and the outer ring of deep groove ball bearing by bearing (ball) cover by being fixed, the bearing end
Lid is connected on top plate；When the motor II is rotated, ball screw assembly, driving arm platform and the machine for being installed on arm platform
Structure is moved along guide rod.
Hydraulic cylinder in the arm telescoping mechanism is connected on arm platform by hydraulic cylinder leg, and described is hydraulic
The piston rod of cylinder passes through linear bearing and in the end of hydraulic cylinder piston rod equipped with connection sleeve, and the linear bearing passes through axis
It holds seat to be connected on arm platform, the connection sleeve is fixed together by bolt with executing agency fixed plate, and machine is executed
2 end effector mechanisms are equipped in structure fixed plate, when the hydraulic cylinder piston rod elongates or shortens, in the effect of linear bearing
Under, drive executing agency's fixed plate and the end effector mechanism being mounted thereon to be moved forward and backward；The end effector mechanism drives
It is dynamic when the piston rod of cylinder extends shortening, to pass through connecting rod from cylinder and inner bearing type clamper is driven to act, inner bearing type clamper
Clamping force is transmitted using four-bar mechanism, when the cylinder stretches out, piston rod is moved downward, and strut two chelas outward, from
And drive the workpiece of elastic claw clamping inner hole thin-walled；Spring is equipped between two chelas, when elastic claw work, due to clamping
Process has elastic force effect, and quick-wear part is avoided to be scratched, deformation and breakage.
The utility model has the beneficial effects that: compared with prior art, the utility model is simple for structure, each section connection
Reliably；Be conducive to improve the efficiency for clamping inner hole thin-walled parts, using effect is good, easy to promote and utilize.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The illustrative example and its explanation of the utility model do not constitute the improper limit to the utility model for explaining the utility model
It is fixed.
Fig. 1 is a kind of three freedom degree manipulator structure composition schematic diagram with double end effector mechanisms of the utility model；
Fig. 2 is a kind of three freedom degree manipulator structural front view with double end effector mechanisms of the utility model；
Fig. 3 is the utility model arm platform and hydraulic telescopic machanism and end effector mechanism top view；
Fig. 4 is partial enlarged view at A in the utility model Fig. 1；
Fig. 5 is partial enlarged view at B in the utility model Fig. 1；
Fig. 6 is the utility model Tu1Zhong executing agency enlarged view.
In figure: 1, waist swing mechanism, 2, arm platform lifting mechanism, 3, arm telescoping mechanism, 4, end effector mechanism,
101, pedestal, 102, motor I, 103, motor cabinet I, 104, bearing (ball) cover I, 105, deep groove ball bearing I, 106, waist turn-around machine
Lid, 107, axle sleeve I, 108, key I, 201, locking nut I, 202, lead screw, 203, axle sleeve II, 204, tapered roller bearing, 205,
Bearing (ball) cover II, 206, guide rod, 207, arm platform, 208, guide sleeve, 209, flange nut, 210, top plate, 211, locking screw
Follow closely I, 212, bearing (ball) cover III, 213, lock-screw II, 214, felt collar, 215, motor cabinet II, 216, motor II, 217, shaft coupling
Device, 218, locking nut II, 219, axle sleeve III, 220, deep groove ball bearing II, 301, hydraulic cylinder, 302, hydraulic cylinder leg,
303, linear bearing, 304, piston rod, 305, locknut, 306, connection sleeve, 401, cylinder, 402, executing agency are fixed
Plate, 403, chela, 404 springs, 405 push rods, 406 elastic claws.
Specific embodiment
The detailed content and its specific embodiment of the utility model are further illustrated with reference to the accompanying drawing.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, one kind having double end effector mechanism three freedom degree manipulator structures
Including waist swing mechanism 1, arm platform lifting mechanism 2, arm telescoping mechanism 3 and end effector mechanism 4, the waist
Swing mechanism 1 includes pedestal 101, motor I102, motor cabinet I103, bearing (ball) cover I 104, deep groove ball bearing I 105, waist time
Favourable turn lid 106, axle sleeve I 107, key I 108；The arm platform lifting mechanism 2 include locking nut I201, lead screw 202,
Axle sleeve II203, tapered roller bearing 204, bearing (ball) cover II205, guide rod 206, arm platform 207, guide sleeve 208, flange spiral shell
Mother 209, top plate 210, lock-screw I211, bearing (ball) cover III212, lock-screw II213, felt collar 214, motor cabinet II215,
Motor II216, shaft coupling 217, locking nut II218, axle sleeve III219, deep groove ball bearing II220；The arm telescopic machine
Structure 3 includes hydraulic cylinder 301, hydraulic cylinder leg 302, linear bearing 303, piston rod 304, locknut 305, connection sleeve 306；
The end effector mechanism includes cylinder 401, executing agency's fixed plate 402, chela 403, spring 404, push rod 405, elasticity
Pawl 406；The end effector mechanism 4 has 2, and 2 end effector mechanisms 4 are connected on telescoping mechanism 3, and 2 ends execute
Mechanism 4 is realized under the action of cylinder 401 and is moved synchronously；The waist swing mechanism 1 is connected by deep groove ball bearing I105
On pedestal 101, the ball screw assembly, that the arm platform lifting mechanism 2 is made of lead screw 202 and flange nut 209 is driven
Dynamic realize along guide rod 206 moves up and down, and the guide rod 206 prevents arm platform 207 and is installed on arm platform 207
Mechanism rotates on lead screw 202, and the lead screw 202, guide rod 206 are connected on waist swing mechanism 1, the waist revolution
When mechanism 1 turns round, under the action of deep groove ball bearing I105, the rotation of waist revolution cover 106 is realized, and then waist is driven to return
The device rotation installed on favourable turn lid 106；The arm telescoping mechanism 3 is connected on arm platform 207, arm telescoping mechanism
3 power are fixed on the piston rod 304 of arm telescoping mechanism 3 from hydraulic cylinder 301, the end effector mechanism 4, arm
When the piston rod 304 of telescoping mechanism 3 stretches, 2 end effector mechanisms 4 is driven to be moved forward and backward；2 end effector mechanisms
The direction of motion of 4 push rods 405 is identical as the direction of motion of arm platform lifting mechanism 2, and the movement with arm telescoping mechanism 3
Direction is vertical.
Referring to Fig. 1, Fig. 2, Fig. 4, the pedestal 101 is fixed on the ground, and the motor I102 passes through motor cabinet
I103 is connected on pedestal 101, and the waist revolution cover 106 is connected on pedestal 101 by deep groove ball bearing I105,
Deep groove ball bearing I105 and pedestal 101, waist revolution cover 106 are fixed together by the bearing (ball) cover I104, prevent waist
Portion's revolution cover 106 is detached from from pedestal 101；The output shaft of the motor I102 is connected with axle sleeve I107 by key I108
Together, axle sleeve I107 is connected on waist revolution cover 106, when the motor I102 is rotated, in deep groove ball bearing I105
Under the action of, realize the rotation of waist revolution cover 106, and then drive the device rotation installed on waist revolution cover 106, it is real
Now turn round；Tapered roller bearing 204 is installed on the waist revolution cover 106, is convenient for tapered roller bearing 204 and silk
Thick stick 202 is fixed together.
Referring to Fig. 1, Fig. 2, Fig. 5, the guide rod 206 passes through the arm platform equipped with guide sleeve 208, the guide rod
206 one end are connected on waist revolution cover 106, and the other end of the guide rod 206 is connected on top plate 210 by key II,
Lead screw 202 and flange nut 209 constitute ball screw assembly, and flange nut 209 is installed in arm platform 207, the ball
One end of lead screw pair passes through tapered roller bearing 204, axle sleeve II203, and turns round cover 106 by locking nut I201 and waist
It is fixed together, the bearing (ball) cover II205 is fixed on waist revolution cover 106, prevents tapered roller bearing 204 along silk
Thick stick is axially moved, and the other end of the ball screw assembly, passes through deep groove ball bearing II220, axle sleeve III219, and passes through locking
Nut II218 locking state is connected on top plate 210, and the bearing (ball) cover III212 is fixed on top plate by lock-screw II213
On 210, deep groove ball bearing II220 is prevented to be axially moved along lead screw, the motor II216 is fixed on motor cabinet II215, electricity
Base II215 is fixed on top plate 210 by lock-screw I211, and the output shaft of motor II216 passes through shaft coupling 217 and lead screw
202 are fixed together；When the motor II is rotated, the ball screw assembly, drives arm platform 207 and is installed on arm
The mechanism of platform 207 is moved along guide rod 206.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 6, the hydraulic cylinder 301 in the arm telescoping mechanism 3 passes through hydraulic cylinder leg 302
It is connected on arm platform 207, the piston rod 304 of the hydraulic cylinder 301 passes through linear bearing 303, and living in hydraulic cylinder 301
The end of stopper rod 304 is connected in arm platform 207 by bearing block IV equipped with connection sleeve 306, the linear bearing 303
On, the locknut 305 has positioning action, and the connection sleeve 306 passes through bolt and executing agency's fixed plate 402
It is fixed together, 2 end effector mechanisms 4, the piston rod 304 of the hydraulic cylinder 301 is equipped in executing agency's fixed plate 402
When elongation, shortening, under the action of linear bearing 303, executing agency's fixed plate 402 and the end being mounted thereon is driven to execute
Mechanism 4 is moved forward and backward；The end effector mechanism 4 drives from cylinder 401, and the push rod 405 of the cylinder 401 is stretched
When length, shortening, the movement of inner bearing type clamper is driven by connecting rod, inner bearing type clamper uses four-bar mechanism transmitting clamping force,
When the cylinder stretches out, push rod 405 is moved downward, and struts two chelas 403 outward, to drive in 406 stretching of elastic claw
Hole thin-wall workpiece；When the push rod 405 of the cylinder 401 shortens, push rod 405 is moved upwards, and closes up two chelas 403 inwardly,
To drive elastic claw 406 to discharge inner hole thin-wall workpiece；Spring is equipped between two chelas 403, when elastic claw 406 works
When, since spring has elastic force effect, quick-wear part is avoided to be scratched, deformation and breakage.
The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for ability
For the technical staff in domain, various modifications and changes may be made to the present invention.It is all to made by the utility model it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this utility model.
Claims (4)
1. it includes waist swing mechanism (1), arm platform liter that one kind, which has double end effector mechanism three freedom degree manipulator structures,
Descending mechanism (2), arm telescoping mechanism (3) and end effector mechanism (4), it is characterised in that: the waist swing mechanism (1)
It is returned including pedestal (101), motor I (102), motor cabinet I (103), bearing (ball) cover I (104), deep groove ball bearing I (105), waist
Favourable turn lid (106), axle sleeve I (107), key I (108)；The arm platform lifting mechanism (2) include locking nut I (201),
Lead screw (202), axle sleeve II (203), tapered roller bearing (204), bearing (ball) cover II (205), guide rod (206), arm platform
(207), guide sleeve (208), flange nut (209), top plate (210), lock-screw I (211), bearing (ball) cover III (212), lock
Tight screw II (213), felt collar (214), motor cabinet II (215), motor II (216), shaft coupling (217), locking nut II
(218), axle sleeve III (219), deep groove ball bearing II (220)；The arm telescoping mechanism (3) includes hydraulic cylinder (301), liquid
Cylinder pressure bracket (302), linear bearing (303), piston rod (304), locknut (305), connection sleeve (306)；Described holds
Row mechanism includes cylinder (401), executing agency's fixed plate (402), chela (403), spring (404), push rod (405), elastic claw
(406)；The end effector mechanism (4) has 2, and 2 end effector mechanisms (4) are connected on telescoping mechanism (3), 2 ends
End executing agency (4) is realized under the action of cylinder (401) to move synchronously；The waist swing mechanism (1) passes through deep-groove ball
Bearing I (105) is connected on pedestal (101), and the arm platform lifting mechanism (2) is by lead screw (202) and flange nut
(209) the ball screw assembly, driving constituted is realized along guide rod (206) to move up and down, and the guide rod (206) prevents arm
Platform (207) and the mechanism being installed on arm platform (207) rotate on lead screw (202), the lead screw (202), guide rod
(206) it is connected on waist swing mechanism (1), when the waist swing mechanism (1) turns round, deep groove ball bearing I's (105)
Under effect, the rotation of waist revolution cover (106) is realized, and then drive the device rotation installed in waist revolution cover (106)；
The arm telescoping mechanism (3) is connected on arm platform (207), and arm telescoping mechanism (3) power is from hydraulic cylinder
(301), the end effector mechanism (4) is fixed on the piston rod (304) of arm telescoping mechanism (3), arm telescoping mechanism
(3) when piston rod (304) is flexible, 2 end effector mechanisms (4) is driven to be moved forward and backward；2 end effector mechanisms
(4) direction of motion of push rod (405) is identical as the direction of motion of arm platform lifting mechanism (2), and with arm telescoping mechanism
(3) the direction of motion is vertical.
2. according to claim 1 a kind of with double end effector mechanism three freedom degree manipulator structures, it is characterised in that:
The pedestal (101) fixes on the ground, and the motor I (102) is connected in pedestal (101) by motor cabinet I (103)
On, waist revolution cover (106) is connected on pedestal (101) by deep groove ball bearing I (105), the bearing end
Deep groove ball bearing I (105) and pedestal (101), waist revolution cover (106) are fixed together by lid I (104), prevent waist from returning
Favourable turn lid (106) is detached from from pedestal (101)；The output shaft of the motor I (102) passes through key I with axle sleeve I (107)
(108) it being fixed together, axle sleeve I (107) is connected in waist revolution cover (106), when the motor I (102) is rotated,
Under the action of deep groove ball bearing I (105), the rotation of waist revolution cover (106) is realized, and then waist is driven to turn round cover
(106) the device rotation installed on, realizes revolution；Tapered roller bearing is installed in waist revolution cover (106)
(204), it is convenient for for tapered roller bearing (204) and lead screw (202) being fixed together.
3. according to claim 1 a kind of with double end effector mechanism three freedom degree manipulator structures, it is characterised in that:
The guide rod (206) passes through the arm platform equipped with guide sleeve (208), and the guide rod (206) one end is connected in waist and returns
On favourable turn lid (106), the other end of the guide rod (206) is connected on top plate (210) by key II, lead screw (202) and method
Blue nut (209) constitutes ball screw assembly, and flange nut (209) is installed in arm platform (207), the ball screw assembly,
One end pass through tapered roller bearing (204), axle sleeve II (203), and cover is turned round by locking nut I (201) and waist
(106) it is fixed together, the bearing (ball) cover II (205) is fixed in waist revolution cover (106), prevents taper roller axis
It holds (204) to be axially moved along lead screw, the other end of the ball screw assembly, passes through deep groove ball bearing II (220), axle sleeve III
(219), it and locks state by locking nut II (218) to be connected on top plate (210), the bearing (ball) cover III (212) passes through lock
Tight screw II (213) is fixed on top plate (210), prevents deep groove ball bearing II (220) to be axially moved along lead screw, the motor
II (216) is fixed on motor cabinet II (215), and motor cabinet II (215) is fixed on top plate (210) by lock-screw I (211)
On, the output shaft of motor II is fixed together by shaft coupling (217) with lead screw (202)；Motor II (216) rotation
When, the ball screw assembly, drives arm platform (207) and is installed on the mechanism of arm platform (207) along guide rod (206)
It is mobile.
4. according to claim 1 a kind of with double end effector mechanism three freedom degree manipulator structures, it is characterised in that:
Hydraulic cylinder (301) in the arm telescoping mechanism (3) is connected on arm platform (207) by hydraulic cylinder leg (302),
The piston rod (304) of the hydraulic cylinder (301) passes through linear bearing (303), and in the piston rod of hydraulic cylinder (301) (304)
End equipped with connection sleeve (306), the linear bearing (303) is connected on arm platform (207) by bearing block IV,
The locknut (305) has positioning action, and the connection sleeve (306) passes through bolt and executing agency's fixed plate
(402) it is fixed together, 2 end effector mechanisms (4), the hydraulic cylinder (301) is equipped in executing agency's fixed plate (402)
Piston rod (304) elongation, shorten when, under the action of linear bearing (303), drive executing agency's fixed plate (402) and pacify
It is moved forward and backward loaded on end effector mechanism (4) thereon；The end effector mechanism (4) drives from cylinder (401), institute
When the push rod (405) for the cylinder (401) stated extends, shortens, passes through connecting rod and drive the movement of inner bearing type clamper, inner bearing type clamper
Clamping force is transmitted using four-bar mechanism, when the cylinder stretches out, push rod (405) is moved downward, and keeps two chelas (403) outside
It struts, to drive elastic claw (406) stretching inner hole thin-wall workpiece；When the push rod (405) of the cylinder (401) shortens, push away
Bar (405) moves upwards, and closes up two chelas (403) inwardly, so that elastic claw (406) be driven to discharge inner hole thin-wall workpiece；Institute
It is equipped with spring between two chelas (403) stated, when elastic claw (406) work, since spring has elastic force effect, avoids rapid wear zero
Part is scratched, deformation and breakage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821539492.1U CN209078743U (en) | 2018-09-20 | 2018-09-20 | A kind of three freedom degree manipulator structure with double end effector mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821539492.1U CN209078743U (en) | 2018-09-20 | 2018-09-20 | A kind of three freedom degree manipulator structure with double end effector mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209078743U true CN209078743U (en) | 2019-07-09 |
Family
ID=67117132
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821539492.1U Expired - Fee Related CN209078743U (en) | 2018-09-20 | 2018-09-20 | A kind of three freedom degree manipulator structure with double end effector mechanisms |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386456A (en) * | 2019-08-26 | 2019-10-29 | 南京工程学院 | Based on flexible manufacturing end 50KG grasping mechanism |
| CN110554093A (en) * | 2019-10-10 | 2019-12-10 | 北京博力加机电技术有限公司 | Copying manipulator for clamping outer ring of rolling bearing |
| CN111745628A (en) * | 2020-06-30 | 2020-10-09 | 西安精雕精密机械工程有限公司 | Cylindrical coordinate type three-axis long-stroke manipulator |
| CN113389767A (en) * | 2021-07-23 | 2021-09-14 | 中国科学院合肥物质科学研究院 | Double-acting pneumatic actuator with long-stroke large-cylinder-diameter structure and control system thereof |
| CN113581703A (en) * | 2021-07-16 | 2021-11-02 | 无锡市爱维丝科技有限公司 | Feeding and discharging system for warehouse |
| CN110386456B (en) * | 2019-08-26 | 2024-05-03 | 南京工程学院 | Terminal 50KG snatchs mechanism based on flexible manufacturing |
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2018
- 2018-09-20 CN CN201821539492.1U patent/CN209078743U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386456A (en) * | 2019-08-26 | 2019-10-29 | 南京工程学院 | Based on flexible manufacturing end 50KG grasping mechanism |
| CN110386456B (en) * | 2019-08-26 | 2024-05-03 | 南京工程学院 | Terminal 50KG snatchs mechanism based on flexible manufacturing |
| CN110554093A (en) * | 2019-10-10 | 2019-12-10 | 北京博力加机电技术有限公司 | Copying manipulator for clamping outer ring of rolling bearing |
| CN110554093B (en) * | 2019-10-10 | 2024-02-23 | 北京博力加机电技术有限公司 | Profiling manipulator for clamping outer ring of rolling bearing |
| CN111745628A (en) * | 2020-06-30 | 2020-10-09 | 西安精雕精密机械工程有限公司 | Cylindrical coordinate type three-axis long-stroke manipulator |
| CN113581703A (en) * | 2021-07-16 | 2021-11-02 | 无锡市爱维丝科技有限公司 | Feeding and discharging system for warehouse |
| CN113389767A (en) * | 2021-07-23 | 2021-09-14 | 中国科学院合肥物质科学研究院 | Double-acting pneumatic actuator with long-stroke large-cylinder-diameter structure and control system thereof |
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