CN210704904U - Telescopic mechanism and mechanical arm - Google Patents
Telescopic mechanism and mechanical arm Download PDFInfo
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- CN210704904U CN210704904U CN201921485620.3U CN201921485620U CN210704904U CN 210704904 U CN210704904 U CN 210704904U CN 201921485620 U CN201921485620 U CN 201921485620U CN 210704904 U CN210704904 U CN 210704904U
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Abstract
The utility model discloses a telescopic machanism and arm belongs to the industrial robot field. The telescopic mechanism comprises a fixed seat, a driving device and a rocker arm assembly; the rocker arm assembly is arranged on one side of the fixed seat and can do reciprocating telescopic motion relative to the fixed seat; the rocker arm assembly comprises a plurality of rocker arms which are connected end to end, a gear assembly and a transmission assembly are respectively arranged at the end and the tail of each rocker arm, and the plurality of rocker arms which are connected end to end realize linkage through the gear assembly and the transmission assembly; the driving device is installed on the fixed seat and used for driving the first rocker arm to swing. The first rocker arm of the telescopic mechanism swings under the driving of the driving device, and the whole rocker arm assembly realizes telescopic motion through the transmission of the gear assembly and the transmission assembly; the telescopic mechanism can realize telescopic motion of the whole mechanism by only adopting one driving device, and has the advantages of simple structure and stable operation. The utility model also discloses an include telescopic machanism's arm.
Description
Technical Field
The utility model relates to an industrial robot field especially relates to a telescopic machanism and use this telescopic machanism's arm.
Background
Robotic arms are automated devices that mimic certain motion functions of human hands and arms, and are used to grasp, carry objects or manipulate tools according to a fixed program. The manipulator can replace heavy labor of people to realize mechanization and automation of production, and the manipulator in modern industry has been widely used for replacing manual work, greatly improving production efficiency.
When the mechanical arm works, the mechanical arm usually needs to perform telescopic motion in the front-back direction, the up-down direction or other directions so as to reach the position of an article and move the article to another position. The telescopic mechanism of the existing mechanical arm generally comprises a plurality of sections of swing arms, each swing arm is provided with an independent driving device, the structure of the whole mechanical arm is complicated, a corresponding electric control system is also complicated, and the long-term stable operation of the mechanical arm is not facilitated.
In view of the above, a new technical solution is urgently needed to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a telescopic machanism realizes the drive of whole mechanism through single drive arrangement, has simple structure, moves stable advantage.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a telescopic mechanism comprises a fixed seat, a driving device and a rocker arm component;
the rocker arm assembly is arranged on one side of the fixed seat and can do reciprocating telescopic motion relative to the fixed seat; the rocker arm assembly comprises a plurality of rocker arms which are connected end to end, a gear assembly and a transmission assembly are respectively installed at the end and the tail of each rocker arm, the gear assembly comprises a first gear, a second gear and a third gear which are sequentially meshed and connected, the first gear of the first rocker arm is fixedly connected to the fixed seat, the first gears of other rocker arms are fixedly connected to the tail end of the last rocker arm, and the second gear and the third gear are pivoted on the rocker arms; the transmission assembly comprises a first transmission wheel, a second transmission wheel and a transmission belt wound on the first transmission wheel and the second transmission wheel;
the first transmission wheel of the same rocker arm is coaxially connected with the third gear, and the rotating shaft of the second transmission wheel of the previous rocker arm is fixedly connected with the head end of the next rocker arm;
the driving device is installed on the fixed seat and used for driving the first rocker arm to swing.
As a further improvement, the rocker arms comprise a first rocker arm, a last rocker arm and at least one middle rocker arm, the lengths of the first rocker arm and the last rocker arm are smaller than that of the middle rocker arm, and the lengths of the middle rocker arms are equal.
As a further improvement, one side of the fixed seat is provided with a rotating shaft seat, and the first gear of the first rocker arm is fixedly connected to one side of the rotating shaft seat.
As a further improvement, a driving gear is mounted on a rotating shaft of the driving device, a driving gear is arranged on one side, opposite to the first gear, of the rotating shaft seat, the driving gear is fixedly connected with the first rocker arm, and the driving gear is in meshed connection with the driving gear.
As a further improvement, the first transmission wheel and the second transmission wheel are synchronous wheels, and the transmission belt is a synchronous belt.
As a further improvement, the gear assembly and the transmission assembly of the same rocker arm are respectively arranged on two sides of the rocker arm.
As a further improvement, the diameter of the first gear is larger than that of the second gear, and the diameter of the third gear is equal to that of the second gear.
As a further improvement, the driving device is a driving motor.
As a further improvement, the telescopic mechanism further comprises a carrying platform, and the carrying platform is connected to the tail end of the rocker arm assembly.
A second object of the present invention is to provide a robot arm, which includes the above-mentioned telescopic mechanism.
Compared with the prior art, the utility model discloses following beneficial effect is brought:
the first rocker arm swings under the driving of the driving device, and the whole rocker arm assembly realizes telescopic motion through the transmission action of the gear assembly and the transmission assembly; the utility model discloses only adopt a drive arrangement can realize the drive of whole mechanism, have simple structure, the stable advantage of operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a front structural view of a telescopic mechanism according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural view of the back of the telescoping mechanism according to a preferred embodiment of the present invention;
fig. 3 is a front view of the telescopic mechanism according to another preferred embodiment of the present invention;
fig. 4 is a schematic structural view of the back of the telescopic mechanism according to another preferred embodiment of the present invention.
Description of the main element symbols:
1-a fixed seat; 11-a rotating shaft seat; 2-a rocker arm assembly; 21-a first rocker arm; 22-a second rocker arm; 23-a third rocker arm; 24-a fourth rocker arm; 25-a fifth rocker arm; 31-a first gear; 32-a second gear; 33-third gear; 41-a first synchronizing wheel; 42-a second synchronizing wheel; 43-a synchronous belt; 5-driving a motor; 51-a drive gear; 6-carrying the platform; 7-tensioning device.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Example one
Referring to fig. 1 and 2, a preferred embodiment of the present invention discloses a telescopic mechanism, which includes a fixing base 1, a driving device and a rocker arm assembly 2.
Specifically, in this embodiment, the fixing base 1 is a rectangular base located above the whole telescopic mechanism, and the fixing base 1 is in a horizontal state.
The rocker arm assembly 2 is arranged on one side of the fixed seat 1, namely below the fixed seat 1, and the rocker arm assembly 2 can do reciprocating telescopic motion relative to the fixed seat 1; the rocker arm assembly 2 comprises a plurality of rocker arms which are connected end to end, and a gear assembly and a transmission assembly are respectively arranged at the end and the tail of each rocker arm.
Specifically, in the present embodiment, four rocker arms are provided, namely, a first rocker arm 21, a second rocker arm 22, a third rocker arm 23, and a fourth rocker arm 24. The first rocker arm 21 is the first rocker arm, and the second rocker arm 22, the third rocker arm 23 and the fourth rocker arm 24 are collectively referred to as intermediate rocker arms. The lengths of the first rocker arms 21 are all smaller than those of the middle rocker arms, and the lengths of the three middle rocker arms are the same.
It should be noted that the number of the rocker arms in the present invention is determined according to the volume of the whole telescopic mechanism and the specific working condition, and is not limited to four in this embodiment.
The gear assembly comprises a first gear 31, a second gear 32 and a third gear 33 which are sequentially meshed and connected, and the three gears are sequentially arranged along the length direction of the rocker arm; the first gear 31 of the first swing arm 21 is fixedly connected to the fixed base 1, so that when the driving device drives the first swing arm 21 to swing, the first gear 31 is stationary relative to the fixed base 1, the second gear 32 and the third gear 33 perform circular motion relative to the first gear 31, and the first gear 31, the second gear 32 and the third gear 33 are engaged with each other, so that the second gear 32 and the third gear 33 rotate simultaneously.
Preferably, in order to ensure that the second gear 32 achieves a better transition effect, the second gear 32 is provided with a ball bearing, i.e. the second gear 32 is connected with the rotating shaft thereof through the ball bearing.
The transmission assembly comprises a first synchronizing wheel 41, a second synchronizing wheel 42 and a synchronous belt 43 wound on the first synchronizing wheel 41 and the second synchronizing wheel 42.
It is understood that in other embodiments, the first synchronizing wheel 41 and the second synchronizing wheel 42 can be common transmission wheels, and the synchronizing belt 43 can be a common transmission belt; or a chain wheel and chain transmission mode is adopted, but the synchronous wheel and the synchronous belt 43 in the embodiment are the optimal scheme, so that the synchronism of motion transmission can be ensured, and the slippage between the transmission wheel and the transmission belt can be prevented.
In the present embodiment in particular, the first synchronizing wheel 41 of the same rocker arm is coaxially connected to the third gear wheel 33, so that the gear assembly can transmit the motion to the transmission assembly synchronously; the rotating shaft of the second synchronizing wheel 42 of the first rocker arm 21 is fixedly connected with the head end of the second rocker arm 22, the rotating shaft of the second synchronizing wheel 42 of the second rocker arm 22 is fixedly connected … … with the head end of the third rocker arm 23, and so on, so that the rotating shaft of the second synchronizing wheel 42 of the previous rocker arm is fixedly connected with the head end of the next rocker arm.
The first gear 31 of the second rocker arm 22 is fixedly connected to the end of the first rocker arm 21, the first gear 31 of the third rocker arm 23 is fixedly connected to the end … … of the second rocker arm 22, and so on, so that the first gear 31 of the next rocker arm is fixedly connected to the end of the previous rocker arm.
As described above, when the first rocker arm 21 swings, the second gear 32 and the third gear 33 of the first rocker arm 21 rotate simultaneously, and further drive the first synchronizing wheel 41 and the second synchronizing wheel 42 of the first rocker arm 21 to rotate, and when the second synchronizing wheel 42 rotates, the second rocker arm 22 swings along with the first rocker arm 21, and the swing direction of the second rocker arm 22 is opposite to the swing direction of the first rocker arm 21, that is, when the first rocker arm 21 swings clockwise, the second rocker arm 22 swings counterclockwise. Meanwhile, the second gear 32 and the third gear 33 of the second rocker arm 22 do circular arc motion relative to the first gear 31 of the second rocker arm 22, and the rotation occurs due to the meshing relationship of the three, so that the motion of the first rocker arm 21 is transmitted in a one-step manner, and finally the purpose of the folding and telescopic motion of the whole rocker arm assembly 2 is achieved. Specifically, in this embodiment, the driving device is a driving motor 5, and the driving motor 5 is installed on the fixing base 1 and is used for driving the first rocker arm 21 to swing, so as to drive the whole rocker arm assembly 2 to perform telescopic motion. More specifically, the driving motor 5 may be a general motor, or may be a stepping motor, and is preferably a stepping motor.
According to the conversion relation between the number of rotation turns of the driving motor 5 and the telescopic amount of the rocker arm assembly 2, the telescopic amount of the telescopic mechanism at any moment can be obtained, and a foundation is laid for accurately controlling the telescopic motion of the telescopic mechanism.
The telescopic mechanism of the embodiment can drive the whole telescopic mechanism to realize telescopic motion through one driving motor 5, and is simpler in structure compared with a multi-motor cooperative driving system in the prior art; through the transmission effect of the gear assembly and the transmission assembly, the telescopic motion of the whole telescopic mechanism is more stable and accurate.
As a further improvement, the gear assembly and the transmission assembly of the same rocker arm are respectively arranged on two sides of the rocker arm, so that the arrangement fully utilizes the space, and the phenomena of interference and jamming of movable parts caused by excessive crowding are avoided.
As a further improvement, the diameter of the first gear 31 is larger than that of the second gear 32, and the diameter of the third gear 33 is equal to that of the second gear 32. Preferably, the gear ratio of the first gear 31 to the second gear 32 is 57: 30, the size of the three gears is set, so that the telescopic sensitivity of the whole mechanism can be improved.
Example two
Referring to fig. 1 and 2, another preferred embodiment of the present invention discloses a telescopic mechanism, which includes a fixing base 1, a driving motor 5 and a rocker arm assembly 2.
The fixed seat 1, the driving motor 5 and the rocker arm assembly 2 are consistent with the first embodiment in arrangement: fixing base 1 is located whole telescopic machanism's top, and rocking arm subassembly 2 is connected in the below of fixing base 1, driving motor 5 is fixed on fixing base 1 for provide drive power for rocking arm subassembly 2.
The present embodiment is different from the first embodiment in that:
a rotating shaft seat 11 is arranged on one side of the fixed seat 1, the rotating shaft seat 11 is two oppositely arranged plates, and pin holes for mounting pin shafts are formed in the two plates; the first gear 31 of the first rocker arm 21 is fixedly connected to one side of the rotating shaft seat 11, namely, fixedly connected with the inner side of one plate; a driving gear (not shown) is disposed on a side of the rotating shaft base 11 opposite to the first gear 31, and the driving gear is fixedly connected to the first swing arm 21.
As a further improvement, a driving gear 51 is mounted on a rotating shaft of the driving motor 5, and the driving gear 51 is engaged with the driving gear and is used for driving the first rocker arm 21 to swing. It will be appreciated that the shaft of the drive motor 5 may also be directly connected to the pivot of the first rocker arm 21, but this is certainly preferred by providing the drive gear 51 and the pinion gear. The purpose of increasing the torque of the drive motor 5 can be achieved by setting the gear ratio of the drive gear 51 to the drive gear.
The telescopic mechanism of the embodiment can drive the whole telescopic mechanism to realize telescopic motion through one driving motor 5, and is simpler in structure compared with a multi-motor cooperative driving system in the prior art; the telescopic motion of the whole telescopic mechanism can be more stable and accurate through the transmission action of the gear assembly and the transmission assembly; the stability of the entire mechanism can be further improved by providing two first gears 31 and disposing the two first gears 31 on both sides of the first swing arm 21, respectively.
Preferably, in order to ensure that the first rocker arm 21 swings more smoothly, the pivot of the first rocker arm 21 is implemented by a ball bearing.
EXAMPLE III
Referring to fig. 3 and 4, another preferred embodiment of the present invention discloses a telescopic mechanism, which includes a fixing base 1, a driving motor 5, a swing arm assembly 2 and a carrying platform 6.
The fixed seat 1, the driving motor 5 and the rocker arm assembly 2 are basically consistent with the two embodiments: fixing base 1 is located whole telescopic machanism's top, and rocking arm subassembly 2 is connected in the below of fixing base 1, driving motor 5 is fixed on fixing base 1 for provide drive power for rocking arm subassembly 2.
Specifically, in this embodiment, the fixing base 1 is a rectangular frame, and is located above the whole telescopic mechanism, and the fixing base 1 is in a horizontal state.
The present embodiment is different from the two embodiments described above in that:
the rocker arms are provided with five rocker arms, namely a first rocker arm 21, a second rocker arm 22, a third rocker arm 23, a fourth rocker arm 24 and a fifth rocker arm 25. The first rocker arm 21 is the first rocker arm, and the fifth rocker arm 25 is the last rocker arm; the second, third and fourth rocker arms 22, 23, 24 are collectively referred to as intermediate rocker arms. The lengths of the first rocker arm 21 and the fifth rocker arm 25 are both smaller than the length of the middle rocker arm, and the lengths of the three middle rocker arms are the same.
It should be noted that the number of the rocker arms in the present invention is determined according to the volume of the whole telescopic mechanism and the specific working condition, and is not limited to five in the present embodiment, but at least two rocker arms should be included.
The mounting platform 6 is connected to the end of the swing arm assembly 2, i.e. the mounting platform 6 is directly connected to the fifth swing arm 25. Under the drive of the driving motor 5, the rocker arm component 2 drives the carrying platform 6 to do up-and-down lifting motion together.
It should be noted that the carrying platform 6 may be a platform for carrying a workpiece or a gripper having a gripping function, and the specific structure and function of the carrying platform 6 are not particularly limited according to the purpose of the present invention.
The working principle of the embodiment is as follows:
the driving motor 5 rotates forwards to drive the first rocker arm 21 to swing downwards, and the second gear 32 and the third gear 33 of the first rocker arm 21 rotate due to the meshing relationship with the first gear 31; because the third gear 33 is coaxially connected with the first synchronous wheel 41, the first synchronous wheel 41 also rotates, and the second synchronous wheel 42 is driven to rotate by the synchronous belt 43; the second synchronizing wheel 42 of the first rocker arm 21 is fixedly connected with the second rocker arm 22, so that the second rocker arm 22 can be directly driven to swing, and the second rocker arm 22 also swings downwards according to the transmission relation; and after the transmission of the first-level stage, the rocker arm assembly 2 is finally driven to realize the extension motion, and then the carrying platform 6 is driven to realize the descending motion.
In a similar way, when the driving motor 5 rotates reversely, the rocker arm assembly 2 can be driven to realize the contraction motion, and then the carrying platform 6 is driven to move upwards.
As a further improvement, the rocker arm is provided with a tensioning device 7 for keeping the synchronous belt 43 in a tensioned state to prevent slipping.
In the telescopic mechanism of the embodiment, the whole telescopic mechanism can be driven to realize telescopic motion through one driving motor 5, and then the carrying platform 6 is driven to realize lifting motion; compared with the multi-motor cooperative driving system in the prior art, the structure is simpler; through the transmission effect of the gear assembly and the transmission assembly, the telescopic motion of the whole telescopic mechanism is more stable and accurate.
Example four
Referring to fig. 3 and 4, a fourth embodiment of the present invention provides a robot arm, which includes a telescopic mechanism, wherein the telescopic mechanism is the telescopic mechanism in the above three embodiments.
Fixing base 1 is located the top of this arm, and rocking arm subassembly 2 is connected in the below of fixing base 1, driving motor 5 is fixed on fixing base 1 for provide drive power for rocking arm subassembly 2.
As a further improvement, the mechanical arm further comprises a carrying platform 6.
The mounting platform 6 is connected to the end of the swing arm assembly 2, i.e. the mounting platform 6 is directly connected to the fifth swing arm 25. Under the drive of the driving motor 5, the rocker arm component 2 drives the carrying platform 6 to do up-and-down lifting motion together.
The carrying platform 6 may be a platform for carrying a workpiece, or may be a gripper having a gripping function, and the specific structure and function of the carrying platform 6 are not limited according to the purpose of the present invention.
The first rocker arm 21 can be driven to swing up and down by the driving of the driving motor 5, and the whole rocker arm component 2 realizes telescopic motion through the transmission action of the gear component and the transmission component, so as to drive the carrying platform 6 to realize up-and-down lifting motion; the mechanical arm can realize the driving of the whole mechanism by only adopting one driving motor 5, and has the advantages of simple structure and stable operation.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A telescopic mechanism is characterized in that: comprises a fixed seat, a driving device and a rocker arm component;
the rocker arm assembly is arranged on one side of the fixed seat and can do reciprocating telescopic motion relative to the fixed seat; the rocker arm assembly comprises a plurality of rocker arms which are connected end to end, a gear assembly and a transmission assembly are respectively installed at the end and the tail of each rocker arm, the gear assembly comprises a first gear, a second gear and a third gear which are sequentially meshed and connected, the first gear of the first rocker arm is fixedly connected to the fixed seat, the first gears of other rocker arms are fixedly connected to the tail end of the last rocker arm, and the second gear and the third gear are pivoted on the rocker arms; the transmission assembly comprises a first transmission wheel, a second transmission wheel and a transmission belt wound on the first transmission wheel and the second transmission wheel;
the first transmission wheel of the same rocker arm is coaxially connected with the third gear, and the rotating shaft of the second transmission wheel of the previous rocker arm is fixedly connected with the head end of the next rocker arm;
the driving device is installed on the fixed seat and used for driving the first rocker arm to swing.
2. The telescoping mechanism of claim 1, wherein: the rocker arms comprise a first rocker arm, a last rocker arm and at least one middle rocker arm, the lengths of the first rocker arm and the last rocker arm are smaller than that of the middle rocker arm, and the lengths of the middle rocker arms are equal.
3. The telescoping mechanism of claim 1, wherein: one side of the fixed seat is provided with a rotating shaft seat, and the first gear of the first rocker arm is fixedly connected to one side of the rotating shaft seat.
4. A telescopic mechanism according to claim 3, wherein: a driving gear is mounted on a rotating shaft of the driving device, a driving gear is arranged on one side, opposite to the first gear, of the rotating shaft seat, the driving gear is fixedly connected with the first rocker arm, and the driving gear is meshed with the driving gear.
5. The telescoping mechanism of claim 1, wherein: the first driving wheel and the second driving wheel are synchronous wheels, and the driving belt is a synchronous belt.
6. The telescoping mechanism of claim 1, wherein: the gear assembly and the transmission assembly of the same rocker arm are respectively arranged on two sides of the rocker arm.
7. The telescoping mechanism of claim 1, wherein: the diameter of the first gear is larger than that of the second gear, and the diameter of the third gear is equal to that of the second gear.
8. The telescoping mechanism of claim 1, wherein: the driving device is a driving motor.
9. The telescoping mechanism of claim 1, wherein: still include the platform of carrying, carry the platform and connect in the end of rocking arm subassembly.
10. A robotic arm, characterized by: comprising a telescopic mechanism according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921485620.3U CN210704904U (en) | 2019-09-06 | 2019-09-06 | Telescopic mechanism and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921485620.3U CN210704904U (en) | 2019-09-06 | 2019-09-06 | Telescopic mechanism and mechanical arm |
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| CN210704904U true CN210704904U (en) | 2020-06-09 |
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| CN201921485620.3U Active CN210704904U (en) | 2019-09-06 | 2019-09-06 | Telescopic mechanism and mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923062A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Multi-degree-of-freedom zinc ingot slag-raking robot |
| CN111998214A (en) * | 2020-09-03 | 2020-11-27 | 广东亿嘉和科技有限公司 | Robot holder lifting device |
| CN112659113A (en) * | 2020-12-31 | 2021-04-16 | 山东豪迈机械制造有限公司 | Connecting arm assembly, connecting arm device and operation equipment |
| CN115648190A (en) * | 2022-12-08 | 2023-01-31 | 沈阳新松机器人自动化股份有限公司 | Heavy-load horizontal multi-joint robot |
| CN116593825A (en) * | 2023-06-06 | 2023-08-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
-
2019
- 2019-09-06 CN CN201921485620.3U patent/CN210704904U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923062A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Multi-degree-of-freedom zinc ingot slag-raking robot |
| CN111998214A (en) * | 2020-09-03 | 2020-11-27 | 广东亿嘉和科技有限公司 | Robot holder lifting device |
| CN112659113A (en) * | 2020-12-31 | 2021-04-16 | 山东豪迈机械制造有限公司 | Connecting arm assembly, connecting arm device and operation equipment |
| CN115648190A (en) * | 2022-12-08 | 2023-01-31 | 沈阳新松机器人自动化股份有限公司 | Heavy-load horizontal multi-joint robot |
| CN116593825A (en) * | 2023-06-06 | 2023-08-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
| CN116593825B (en) * | 2023-06-06 | 2024-03-15 | 东禾电气有限公司 | Cable fault early warning and positioning device |
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