CN210389197U - Four-axis step motor arm - Google Patents
Four-axis step motor arm Download PDFInfo
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- CN210389197U CN210389197U CN201920930114.4U CN201920930114U CN210389197U CN 210389197 U CN210389197 U CN 210389197U CN 201920930114 U CN201920930114 U CN 201920930114U CN 210389197 U CN210389197 U CN 210389197U
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Abstract
The utility model discloses a four-axis step motor arm, its characterized in that: the utility model discloses a base case, the base cover, the motor support, step motor, the action wheel, the hold-in range, press the pinch roller subassembly, the synchronizing wheel, the bearing, the main shaft, the speed reducer stabilizer blade, the shaft coupling, the speed reducer driving shaft, the eccentric wheel, the connecting rod stabilizer blade, the inductor, cross the wire frame, erect the frame, even axle joint piece, even arm joint piece, connecting hole, the triangle axle piece, the joint shaft, horizontal arm frame, the connecting rod bellmouth, bent axle joint piece, composite construction such as bent axle support arm, realize step motor action wheel connection hold-in range, the synchronizing wheel transmission is connected, with step motor, the speed reducer, the eccentric wheel, the thoughtlessly moving structure of connecting rod combination, design scientific and reasonable, low in cost, it is nimble to rotate, the operation precision is high, the. The defects of the prior art are overcome.
Description
Technical Field
The utility model relates to an automatic change technical field, especially relate to a four-axis step motor arm.
Background
The mechanical arm in the prior art adopts a transmission mode of combining a servo motor and a speed reducer, so that the manufacturing cost is very high, the running precision is low, and the stroke complex action with multiple degrees of freedom cannot be run.
The utility model adopts a base box, a base cover, a motor bracket, a stepping motor, a driving wheel, a synchronous belt, a belt pressing wheel component, a synchronous wheel, a bearing, a main shaft, a speed reducer supporting leg, a coupling, a speed reducer driving shaft, an eccentric wheel, a connecting rod supporting leg, an inductor, a wire frame, a vertical arm frame, a connecting shaft joint block, a connecting arm joint block, a connecting hole, a triangular shaft block, a joint shaft, a cross arm frame, a connecting rod convex mouth, a crankshaft joint block, a crankshaft supporting arm, a supporting plate, a crankshaft handle, a connecting rod groove, a bolt rod, a rotary seat and a paw combined structure, realizes the synchronous belt connected with the driving wheel of the stepping motor and the synchronous wheel transmission connection, and the mixed moving structure combined with the stepping motor, the speed reducer, the eccentric wheel and the connecting rod, has scientific and reasonable design, low cost, flexible, multiple degrees of freedom and stroke complexity have strong adaptability. The defects of the prior art are overcome.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a four-axis step motor arm, it is very high to have solved prior art's arm manufacturing cost rationally effectively, and the operation precision is lower, can not move the problem of the complicated action of multi freedom's stroke.
The utility model adopts the following technical scheme:
the utility model provides a four-axis step motor arm, including the base case, the base cover, motor support, step motor, the action wheel, the hold-in range, the pinch roller subassembly, the synchronizing wheel, the bearing, the main shaft, the speed reducer stabilizer blade, the shaft coupling, the speed reducer driving shaft, the eccentric wheel, the connecting rod stabilizer blade, the inductor, cross the line frame, erect the cantilever crane, link the axle joint piece, link the arm joint piece, the connecting hole, the triangle axle piece, the joint axis, the horizontal cantilever crane, the connecting rod bellmouth, the bent axle joint piece, the bent axle support arm, the backup pad, the bent axle handle, the connecting rod groove, the peg, the:
the base box is a rectangular box body, a bottom plate and a side box body protrude from the periphery of the panel, a base cover is arranged on the panel, a motor support is arranged in the middle of the rear end of the panel, a stepping motor is arranged below the motor support and in the base box, the stepping motor protrudes out of the motor support and is provided with a driving wheel, two sides in front of the driving wheel are provided with pinch roller assemblies, the front end of the panel is provided with a synchronizing wheel close to the pinch roller assemblies, a synchronizing belt is arranged on the periphery of the synchronizing wheel and connected with the driving wheel and the pinch roller assemblies, a bearing is arranged on the lower bottom surface of the synchronizing wheel, the center of the bearing is fixedly connected with a main shaft, and the upper end of;
l-shaped speed reducer support legs are symmetrically arranged on the synchronous wheel surfaces on two sides of the main shaft in a fixed connection mode, bearings are arranged on the speed reducer support legs, a speed reducer is arranged on the bearings, a coupler is arranged on the rear side of the speed reducer in a connected mode, a stepping motor is arranged in a connected mode, the speed reducer is provided with a speed reducer driving shaft, the speed reducer driving shaft is axially connected with the bearings, a vertical arm frame is arranged on the speed reducer driving shaft on two sides in a connected mode, a wire passing frame is arranged on the rear side of the vertical arm frame, two ends of the wire passing frame are connected and arranged on the outer side of the same end of the speed reducer support legs on two sides, sensor support legs are respectively arranged on the outer side and the inner side of one end, close to the wire passing frame, sensors are arranged on the sensor support legs, a connecting rod support leg is arranged in the middle of the front inner side of the vertical arm frame in a, the connecting shaft joint block is provided with a connecting hole which is axially connected with the driving shaft of the speed reducer, the driving shaft of the speed reducer on one side and the inner side of the connecting shaft joint block are in linkage connection with an eccentric wheel, the eccentric wheel is provided with a connecting hole, the connecting hole is provided with a bearing which is axially connected with the connecting hole arranged at the lower end of the connecting rod, the two sides of the upper end of the vertical arm frame are provided with round connecting arm joint blocks which extend forwards and upwards, the connecting hole is arranged on each connecting arm joint block, the connecting holes on the two sides are provided with a joint shaft and a cross arm frame, the middle of the joint shaft is provided with a triangular shaft block, the triangular shaft block is provided with a connecting hole and a bearing near three corner tops respectively, the lower connecting hole and the bearing are axially connected with the joint shaft, the connecting hole and the bearing on the upper front side are axially connected with the connecting hole, the crank shaft comprises a cross arm frame, a vertical arm frame, a connecting rod, a crank shaft, a connecting rod groove, a connecting rod connecting block, a connecting rod support arm, a connecting rod groove, a bolt rod, a connecting rod and a connecting rod, wherein the round connecting joint block extends backwards and downwards is arranged on two sides of the rear end of the cross arm frame, the circle center of the connecting rod joint block is provided with a connecting hole and a bearing, the connecting hole and the bearing are matched with the round connecting joint block arranged on two sides of the upper end of the vertical arm frame and are axially connected with the joint shaft, the rear end of the connecting rod joint block at the rear end of the cross arm frame at the same side of the eccentric wheel is provided with a connecting rod convex mouth, the connecting rod convex mouth is provided with a connecting hole and a bearing, the connecting rod is axially connected with the connecting hole at the upper end of the connecting rod, the connecting rod, the vertical step motor that is equipped with in the backup pad, connect step motor's pivot, link up the backup pad is equipped with the roating seat, connects the roating seat is equipped with the hand claw, constitutes a four-axis step motor arm.
Further, the speed reducer is 1: 16 speed reducers.
Furthermore, the front end of the base cover is circular and is provided with a large-hole base cover which covers the driving wheel, the synchronous belt and the pinch roller assembly and the periphery of the synchronous wheel.
Furthermore, be close to be equipped with in the wire frame one end outside the inductor stabilizer blade is fixed the base covers and links up the department with the synchronizing wheel, be equipped with in wire frame one end inboard the inductor stabilizer blade is fixed on the synchronizing wheel.
Further, the structural parameters of the mechanical arm are as follows: the rotating angle of the vertical arm frame is +135 degrees to-135 degrees, the maximum rotating speed is 105 degrees/s, the overturning rotating angle is 0 degree to-70 degrees, the maximum rotating speed is 105 degrees/s, the overturning rotating angle of the horizontal arm frame is 0 degree to-70 degrees, the maximum rotating speed is 200 degrees/s, the rotating angle of the paw is +135 degrees to-135 degrees, the maximum rotating speed is 250 degrees/s, the size of the mechanical arm is 260 multiplied by 577 multiplied by 530mm, the maximum radius is 540mm, and the minimum radius is 180 mm.
The utility model has the beneficial technical effects that:
the utility model discloses a four-axis step motor arm has solved prior art's arm manufacturing cost rationally effectively very high, and the operation precision is lower, can not move the problem of the complicated action of multi freedom's stroke.
The utility model adopts a base box, a base cover, a motor bracket, a stepping motor, a driving wheel, a synchronous belt, a belt pressing wheel component, a synchronous wheel, a bearing, a main shaft, a speed reducer supporting leg, a coupling, a speed reducer driving shaft, an eccentric wheel, a connecting rod supporting leg, an inductor, a wire frame, a vertical arm frame, a connecting shaft joint block, a connecting arm joint block, a connecting hole, a triangular shaft block, a joint shaft, a cross arm frame, a connecting rod convex mouth, a crankshaft joint block, a crankshaft supporting arm, a supporting plate, a crankshaft handle, a connecting rod groove, a bolt rod, a rotary seat and a paw combined structure, realizes the synchronous belt connected with the driving wheel of the stepping motor and the synchronous wheel transmission connection, and the mixed moving structure combined with the stepping motor, the speed reducer, the eccentric wheel and the connecting rod, has scientific and reasonable design, low cost, flexible, multiple degrees of freedom and stroke complexity have strong adaptability. The defects of the prior art are overcome.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is the structure schematic diagram of the base box of the utility model.
Fig. 3 is a schematic view of the eccentric wheel loosening structure of the present invention.
Fig. 4 is a schematic view of the releasing structure of the vertical arm support of the present invention.
Fig. 5 is a schematic view of the releasing structure of the cross arm frame of the present invention.
Shown in the figure: 1-base box, 2-base cover, 3-motor support, 4-stepping motor, 5-driving wheel, 6-synchronous belt, 7-pinch roller assembly, 8-synchronous wheel, 9-bearing, 10-main shaft, 11-speed reducer support leg, 12-coupling, 13-speed reducer, 14-speed reducer driving shaft, 15-eccentric wheel, 16-connecting rod, 17-connecting rod support leg, 18-inductor support leg, 19-inductor, 20-wire passing frame, 21-vertical arm support, 22-coupling joint block, 23-coupling joint block, 24-connecting hole, 25-triangular shaft block, 26-joint shaft, 27-horizontal arm support, 28-connecting rod convex mouth, 29-crankshaft joint block, 30-crankshaft support arm, 31-support plate, 32-crank shaft, 33-connecting rod groove, 34-bolt rod and 35-rotary seat.
Detailed Description
The following description of the embodiments will help the public to understand the present invention, but the specific embodiments given by the applicant should not be considered as limiting the technical solution of the present invention, and any changes in the definition of the components or technical features and/or in the form of the overall structure rather than substantial changes should be considered as the protection scope defined by the technical solution of the present invention.
Example (b):
the four-axis stepping motor mechanical arm shown in fig. 1-5 comprises a base box 1, a base cover 2, a motor support 3, a stepping motor 4, a driving wheel 5, a synchronous belt 6, a pinch roller assembly 7, a synchronous wheel 8, a bearing 9, a main shaft 10, a speed reducer support leg 11, a shaft coupling 12, a speed reducer 13, a speed reducer driving shaft 14, an eccentric wheel 15, a connecting rod 16, a connecting rod support leg 17, an inductor support leg 18, an inductor 19, a wire passing frame 20, a vertical arm frame 21, a connecting shaft joint block 22, a connecting arm joint block 23, a connecting hole 24, a triangular shaft block 25, a joint shaft 26, a cross arm frame 27, a connecting rod convex mouth 28, a crankshaft joint block 29, a crankshaft support arm 30, a support plate 31, a crankshaft handle 32, a connecting rod groove 33, a bolt 34 and a rotating base 35.
Firstly, a base box 1 is arranged, a base cover 2, a motor support 3, a pinch roller assembly 7 and a bearing 9 are arranged on the upper plate surface of the base box 1, the motor support 3 is arranged in the middle of the rear end of the upper plate surface of the base box 1, the pinch roller assembly 7 is obliquely arranged in front of the motor support 3 and close to two sides, the bearing 9 is arranged from the front side of the motor support 3 to the front end of the upper plate surface of the base box 1, a synchronizing wheel 8 is arranged on the bearing 9, a main shaft 10 is arranged in the center of the synchronizing wheel 8, the upper end of the main shaft 10 is fixedly connected with the synchronizing wheel 8 and the bearing 9, and the lower end of the main shaft is arranged in the base box 1. A stepping motor 4 is arranged in the motor bracket 3 and the base box 1, a driving wheel 5 is arranged on the stepping motor 4, and a synchronous belt 6 is connected and arranged on the driving wheel 5, the pinch roller component 7 and the synchronous wheel 8.
Then, a speed reducer support leg 11, a connecting rod 16, a vertical arm support 21 and a cross arm support 27 are arranged, connecting holes 24 are arranged at two ends of the connecting rod 16, a connecting shaft joint block 22 is arranged at the lower end of the vertical arm support 21, a connecting arm joint block 23 is arranged at the upper end of the vertical arm support 21, a connecting arm joint block 23 is arranged at the rear end of the cross arm support 27, a crankshaft joint block 29 is arranged at the front end of the cross arm support 27, and the connecting holes 24 are arranged on the connecting shaft joint block 22, the connecting arm joint block 23 and the crankshaft joint block. The upper wheel face of the synchronizing wheel 8 is close to two sides of a connecting block at the upper end of the main shaft 10 are parallelly provided with speed reducer supporting legs 11, the middle of each speed reducer supporting leg 11 is close to the rear end straight line trimming edge of the connecting block at the upper end of the main shaft 10 to be provided with a connecting rod supporting leg 17, and a connecting hole 24 at the upper end of the connecting rod supporting leg 17 is axially connected with a bearing 9 and a connecting hole 24 arranged at the lower end of the connecting rod 16. A wire frame 20 is connected between the outer sides of the rear ends of the speed reducer support legs 11 on the two sides, sensor support legs 18 are respectively arranged on the base cover 2 at the joint of the synchronizing wheel 8 and the base cover 2 on the outer side of one end of the wire frame 20 and the synchronizing wheel 8 on the inner side of the same end, and then sensors 19 are respectively arranged on the sensor support legs 18.
A bearing 9 is arranged on the speed reducer support leg 11, a speed reducer 13 is connected to the bearing 9, a coupler 12 is arranged at the rear outer end of the speed reducer 13, and a stepping motor 4 is connected to the coupler 12. A vertical arm support 21 is arranged between the speed reducer support legs 11 on the two sides, connecting holes 24 of the connecting shaft joint blocks 22 arranged on the two sides of the vertical arm support 21 are matched with bearings 9 arranged on the speed reducer support legs 11, and speed reducer driving shafts 14 are respectively arranged on the speed reducer support legs 11, the bearings 9, the connecting shaft joint blocks 22 and the connecting holes 24 on the two sides. An eccentric wheel 15 is arranged on the driving shaft 14 of the speed reducer on one side and attached to the same connecting shaft side of the vertical arm frame 21 and is in axial connection with a connecting rod 16, and a connecting hole 24 and a bearing 9 are arranged at the rear end of the eccentric wheel 15 and are connected with a connecting hole 24 arranged at the lower end of the connecting rod 16. The connecting rod 16 is arranged at a rear angle of the vertical arm frame 21 on the same side as the eccentric wheel 15, and the connecting rod 16 arranged on the connecting rod supporting leg 17 is arranged in the middle of the rear side in the vertical arm frame 21.
And a transverse arm support 27 is connected and arranged at the upper end of the vertical arm support 21. Matching the connecting arm joint block 23 arranged at the upper end of the vertical arm support 21 and the rear end of the cross arm support 27 with a connecting hole 24, arranging a connecting rod convex mouth 28 at the rear end of the connecting arm joint block 23 arranged at the rear end of the cross arm support 27 on the same side of the eccentric wheel 15, and arranging the connecting hole 24 and a bearing 9 on the connecting rod convex mouth 28 to be axially connected with the upper end of the connecting rod 16 arranged on the eccentric wheel 15. And a bearing 9 and a joint shaft 26 are arranged on the matched connecting arm joint block 23 and the connecting hole 24 and are in axial connection. A bearing 9 is provided in the middle of the joint shaft 26, and a triangular shaft block 25 is provided in the bearing 9 in an axially connected manner. The triangular part of the triangular shaft block 25 is provided with a connecting hole 24 and a bearing 9, the lower side angle is axially connected with the middle of the joint shaft 26, the front upper side angle is axially connected with a connecting rod 16, the connecting rod 16 is arranged in the cross arm frame 27 and close to the middle of the upper side inner wall, and the rear upper side angle is axially connected with the upper end of the connecting rod 16 arranged on the connecting rod supporting leg 17.
Finally, a crankshaft support arm 30 is arranged, a support plate 31 and a crankshaft 32 are arranged on the crankshaft support arm 30, a connecting hole 24 and a bearing 9 are arranged at the connecting position of the support plate 31 and the crankshaft 32, a joint shaft 26 is arranged on the connecting hole 24 and the bearing 9, two ends of the joint shaft 26 are fixedly connected with the crankshaft joint block 29, a connecting rod groove 33 is arranged at the upper end of the crankshaft 32, the front end of a connecting rod 16 arranged on the front upper side corner of the triangular shaft block 25 in a shaft connection mode is arranged in the connecting rod groove 33, and a bolt 34 and the bearing 9 are arranged on the notch of the connecting rod groove 33 and are in shaft connection with the front end of the connecting rod 16. And a stepping motor 4 is vertically arranged on the supporting plate 31, a rotating shaft connected with the stepping motor 4 is connected, a rotating seat 35 is arranged on the supporting plate 31, and a paw is arranged on the rotating seat 35 in a connecting manner. And the implementation of the four-axis stepping motor mechanical arm is completed.
Of course, the present invention can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present invention without departing from the spirit and the essence of the present invention, and these corresponding changes and modifications should fall within the protection scope of the appended claims.
Claims (5)
1. The utility model provides a four-axis step motor arm, including the base case, the base cover, motor support, step motor, the action wheel, the hold-in range, the pinch roller subassembly, the synchronizing wheel, the bearing, the main shaft, the speed reducer stabilizer blade, the shaft coupling, the speed reducer driving shaft, the eccentric wheel, the connecting rod stabilizer blade, the inductor, cross the line frame, erect the cantilever crane, link the axle joint piece, link the arm joint piece, the connecting hole, the triangle axle piece, the joint axis, the horizontal cantilever crane, the connecting rod bellmouth, the bent axle joint piece, the bent axle support arm, the backup pad, the bent axle handle, the connecting rod groove, the peg, the:
the base box is a rectangular box body, a bottom plate and a side box body protrude from the periphery of the panel, a base cover is arranged on the panel, a motor support is arranged in the middle of the rear end of the panel, a stepping motor is arranged below the motor support and in the base box, the stepping motor protrudes out of the motor support and is provided with a driving wheel, two sides in front of the driving wheel are provided with pinch roller assemblies, the front end of the panel is provided with a synchronizing wheel close to the pinch roller assemblies, a synchronizing belt is arranged on the periphery of the synchronizing wheel and connected with the driving wheel and the pinch roller assemblies, a bearing is arranged on the lower bottom surface of the synchronizing wheel, the center of the bearing is fixedly connected with a main shaft, and the upper end of;
l-shaped speed reducer support legs are symmetrically arranged on the synchronous wheel surfaces on two sides of the main shaft in a fixed connection mode, bearings are arranged on the speed reducer support legs, a speed reducer is arranged on the bearings, a coupler is arranged on the rear side of the speed reducer in a connected mode, a stepping motor is arranged in a connected mode, the speed reducer is provided with a speed reducer driving shaft, the speed reducer driving shaft is axially connected with the bearings, a vertical arm frame is arranged on the speed reducer driving shaft on two sides in a connected mode, a wire passing frame is arranged on the rear side of the vertical arm frame, two ends of the wire passing frame are connected and arranged on the outer side of the same end of the speed reducer support legs on two sides, sensor support legs are respectively arranged on the outer side and the inner side of one end, close to the wire passing frame, sensors are arranged on the sensor support legs, a connecting rod support leg is arranged in the middle of the front inner side of the vertical arm frame in a, the connecting shaft joint block is provided with a connecting hole which is axially connected with the driving shaft of the speed reducer, the driving shaft of the speed reducer on one side and the inner side of the connecting shaft joint block are in linkage connection with an eccentric wheel, the eccentric wheel is provided with a connecting hole, the connecting hole is provided with a bearing which is axially connected with the connecting hole arranged at the lower end of the connecting rod, the two sides of the upper end of the vertical arm frame are provided with round connecting arm joint blocks which extend forwards and upwards, the connecting hole is arranged on each connecting arm joint block, the connecting holes on the two sides are provided with a joint shaft and a cross arm frame, the middle of the joint shaft is provided with a triangular shaft block, the triangular shaft block is provided with a connecting hole and a bearing near three corner tops respectively, the lower connecting hole and the bearing are axially connected with the joint shaft, the connecting hole and the bearing on the upper front side are axially connected with the connecting hole, the crank shaft comprises a cross arm frame, a vertical arm frame, a connecting rod, a crank shaft, a connecting rod groove, a connecting rod connecting block, a connecting rod support arm, a connecting rod groove, a bolt rod, a connecting rod and a connecting rod, wherein the round connecting joint block extends backwards and downwards is arranged on two sides of the rear end of the cross arm frame, the circle center of the connecting rod joint block is provided with a connecting hole and a bearing, the connecting hole and the bearing are matched with the round connecting joint block arranged on two sides of the upper end of the vertical arm frame and are axially connected with the joint shaft, the rear end of the connecting rod joint block at the rear end of the cross arm frame at the same side of the eccentric wheel is provided with a connecting rod convex mouth, the connecting rod convex mouth is provided with a connecting hole and a bearing, the connecting rod is axially connected with the connecting hole at the upper end of the connecting rod, the connecting rod, the vertical step motor that is equipped with in the backup pad, connect step motor's pivot, link up the backup pad is equipped with the roating seat, connects the roating seat is equipped with the hand claw, constitutes a four-axis step motor arm.
2. The four-axis stepper motor mechanical arm of claim 1, wherein the speed reducer is 1: 16 speed reducers.
3. The four-axis stepping motor mechanical arm as claimed in claim 1, wherein the front end of the base cover is circular and is provided with a large hole, and the base cover covers the driving wheel, the synchronous belt, the pinch roller assembly and the periphery of the synchronous wheel.
4. The four-axis stepping motor mechanical arm according to claim 1, wherein the inductor support leg arranged at the outer side of one end of the wire passing frame is fixed at the joint of the base cover and the synchronizing wheel, and the inductor support leg arranged at the inner side of one end of the wire passing frame is fixed on the synchronizing wheel.
5. The four-axis stepper motor mechanical arm according to claim 1, wherein the mechanical arm has the structural parameters: the rotating angle of the vertical arm frame is +135 degrees to-135 degrees, the maximum rotating speed is 105 degrees/s, the overturning rotating angle is 0 degree to-70 degrees, the maximum rotating speed is 105 degrees/s, the overturning rotating angle of the horizontal arm frame is 0 degree to-70 degrees, the maximum rotating speed is 200 degrees/s, the rotating angle of the paw is +135 degrees to-135 degrees, the maximum rotating speed is 250 degrees/s, the size of the mechanical arm is 260 multiplied by 577 multiplied by 530mm, the maximum radius is 540mm, and the minimum radius is 180 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920930114.4U CN210389197U (en) | 2019-06-20 | 2019-06-20 | Four-axis step motor arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920930114.4U CN210389197U (en) | 2019-06-20 | 2019-06-20 | Four-axis step motor arm |
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| Publication Number | Publication Date |
|---|---|
| CN210389197U true CN210389197U (en) | 2020-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920930114.4U Active CN210389197U (en) | 2019-06-20 | 2019-06-20 | Four-axis step motor arm |
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| Country | Link |
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| CN (1) | CN210389197U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890411A (en) * | 2020-08-03 | 2020-11-06 | 苏州海翌智能科技有限公司 | Quick assembly disassembly formula four-axis manipulator |
| CN113650050A (en) * | 2021-07-28 | 2021-11-16 | 杭州太希智能科技有限公司 | Synchronous belt drive's high-efficient transmission efficiency arm |
| CN114918910A (en) * | 2022-06-16 | 2022-08-19 | 北京市商汤科技开发有限公司 | Transmission wheel assembly and mechanical arm |
-
2019
- 2019-06-20 CN CN201920930114.4U patent/CN210389197U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111890411A (en) * | 2020-08-03 | 2020-11-06 | 苏州海翌智能科技有限公司 | Quick assembly disassembly formula four-axis manipulator |
| CN113650050A (en) * | 2021-07-28 | 2021-11-16 | 杭州太希智能科技有限公司 | Synchronous belt drive's high-efficient transmission efficiency arm |
| CN114918910A (en) * | 2022-06-16 | 2022-08-19 | 北京市商汤科技开发有限公司 | Transmission wheel assembly and mechanical arm |
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