CN213999488U - Stay wire transmission mechanism of mechanical arm and mechanical arm - Google Patents
Stay wire transmission mechanism of mechanical arm and mechanical arm Download PDFInfo
- Publication number
- CN213999488U CN213999488U CN202023137963.6U CN202023137963U CN213999488U CN 213999488 U CN213999488 U CN 213999488U CN 202023137963 U CN202023137963 U CN 202023137963U CN 213999488 U CN213999488 U CN 213999488U
- Authority
- CN
- China
- Prior art keywords
- wheel
- wire
- motor
- synchronous driving
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a drive mechanism and arm of acting as go-between of arm, the drive mechanism of acting as go-between of arm includes first motor, first motor synchronous belt driving wheel, the intermediate wheel, output wheel and first acting as go-between and second acting as go-between, first acting as go-between winding is on first motor synchronous belt driving wheel and intermediate wheel, the second acting as go-between winding is on intermediate wheel and output wheel, first motor synchronous belt driving wheel is installed on the output shaft of first motor, the first motor synchronous belt driving wheel of first motor drive, first motor synchronous belt driving wheel is through first acting as go-between drive intermediate wheel, the intermediate wheel is through the second drive output wheel of acting as go-between. The utility model discloses saved the joint motor of each joint, reduced the weight of arm, promoted the efficiency and the flexibility of arm. The problems of high weight, complex structure and low efficiency of the mechanical arm with the joint motor are solved.
Description
Technical Field
The utility model relates to an arm technical field, concretely relates to arm's transmission mechanism and an arm of acting as go-between.
Background
A robotic arm is a common device in industrial production, and is an important component of industrial automation, and can assist or replace technicians to do heavy single work. Most of the existing mechanical arms adopt joint motors to drive the motion of each joint, each joint needs one joint motor, the mounting structure is complex, the weight is heavier, most of the power of the motors is used for overcoming the load caused by the self weight, and the external work applying capacity and efficiency of the mechanical arms are reduced. And as the weight of each joint increases, the stability and flexibility of the robotic arm is further reduced.
Disclosure of Invention
An object of the utility model is to provide a drive mechanism and a mechanical arm of acting as go-between of mechanical arm for solve the problem that the weight height of the mechanical arm of taking the joint motor, structure are complicated and inefficiency.
In order to solve the problem, the utility model adopts the following technical scheme:
the utility model provides a drive mechanism acts as go-between of arm, including first motor, first motor synchronous driving wheel, intermediate wheel, output wheel and first acting as go-between and second acting as go-between, first acting as go-between winding is on first motor synchronous driving wheel and intermediate wheel, and the second is acted as go-between and is wound on intermediate wheel and output wheel, and first motor synchronous driving wheel is installed on the output shaft of first motor, the first motor synchronous driving wheel of first motor drive, and first motor synchronous driving wheel is through first acting as go-between drive intermediate wheel, and the intermediate wheel is acted as go-between through the second and is driven the output wheel.
The beneficial effects are that:
through the first motor synchronous driving wheel of first motor drive, first motor synchronous driving wheel is rotatory through the first drive intermediate wheel of acting as go-between, and the rotation of intermediate wheel is acted as go-between through the second and is driven the output wheel, and joint motor of each joint has been saved to intermediate wheel and output wheel each drive a joint, has reduced the weight of arm, has promoted the efficiency and the flexibility of arm, has solved the problem that the weight height of the arm of taking the joint motor, structure are complicated and inefficiency.
Furthermore, four wire grooves are formed in the middle wheel, and the first stay wire and the second stay wire are wound on the middle wheel in a mode of winding two circles. The utilization rate of the stay wire is increased, the motion angle of the mechanical arm is maximized, and the problem that the motion range of the mechanical arm is too small due to single-circle winding is solved.
Furthermore, the pull wire tightening device comprises a second motor, a second motor synchronous driving wheel and a pull wire tightening wheel, the second motor synchronous driving wheel is installed on an output shaft of the second motor, a first pull wire is wound on the first motor synchronous driving wheel before being wound on the first motor synchronous driving wheel, the first pull wire is wound on the second motor synchronous driving wheel, the second pull wire is wound on the pull wire tightening wheel, the first motor synchronous driving wheel is wound on the first motor synchronous driving wheel through the pull wire tightening wheel, a tightening screw is arranged on the pull wire tightening wheel, and tightening and loosening of the first pull wire are controlled by adjusting the tightening screw. Through adjusting the tightening degree of acting as go-between, the stability and the accuracy of arm control have been increased.
The utility model also provides a mechanical arm, which comprises a base motor, a base motor output flange, a large arm driving motor, a large arm, a small arm, an end executing mechanism, a first pull-wire transmission mechanism, a second pull-wire transmission mechanism, a first bevel gear and a second bevel gear; the base motor output flange is arranged on an output shaft of the base motor, and the base motor output flange is connected with the bottom end of the large arm and used for controlling the large arm to rotate on the horizontal plane; the large arm driving motor is arranged on the output flange of the base motor and used for controlling the large arm to rotate on a vertical surface; the first wire pulling transmission mechanism comprises a first motor, a first motor synchronous driving wheel, a first intermediate wheel, a first output wheel, a first pulling wire and a second pulling wire, the first pulling wire is wound on the first motor synchronous driving wheel and the first intermediate wheel, the second pulling wire is wound on the first intermediate wheel and the first output wheel, the first motor synchronous driving wheel is installed on an output shaft of the first motor, the first motor drives the first motor synchronous driving wheel, the first motor synchronous driving wheel drives the first intermediate wheel through the first pulling wire, and the first intermediate wheel drives the first output wheel through the second pulling wire; the second wire pulling transmission mechanism comprises a second motor, a second motor synchronous driving wheel, a second intermediate wheel, a second output wheel, a third wire and a fourth wire, the third wire is wound on the second motor synchronous driving wheel and the second intermediate wheel, the fourth wire is wound on the second intermediate wheel and the second output wheel, the second motor synchronous driving wheel is mounted on an output shaft of the second motor, the second motor drives the second motor synchronous driving wheel, the second motor synchronous driving wheel drives the second intermediate wheel through the third wire, and the second intermediate wheel drives the second output wheel through the fourth wire; the top end of the large arm is connected with the bottom end of the small arm through a first middle wheel of a first stay wire transmission mechanism and a second middle wheel of a second stay wire transmission mechanism, a first motor of the first stay wire transmission mechanism and a second motor of the second stay wire transmission mechanism are arranged at the bottom end of the large arm above an output flange of the base motor, a first output wheel of the first stay wire transmission mechanism and a second output wheel of the second stay wire transmission mechanism are arranged at the top end of the small arm, the first output wheel of the first stay wire transmission mechanism is connected with the first bevel gear for driving the first bevel gear, and the second output wheel of the second stay wire transmission mechanism is connected with the second bevel gear for driving the second bevel gear; the bottom end of the end actuator is provided with a bottom bevel gear, and the first bevel gear and the second bevel gear drive the bottom bevel gear to control the movement of the end actuator.
The beneficial effects are that:
the rotary motion of the large arm on the horizontal plane is controlled through the base motor and the base motor output flange, the motion of the large arm on the vertical plane is controlled through the large arm driving motor, the motion of the small arm and the tail end executing mechanism is controlled through the first stay wire transmission mechanism and the second stay wire transmission mechanism, two middle wheels and two output wheels respectively drive one joint, joint motors of all joints are omitted through a stay wire transmission mode, the weight of the mechanical arm is reduced, the efficiency and the flexibility of the mechanical arm are improved, and the problems of high weight, complex structure and low efficiency of the mechanical arm with the joint motor are solved.
Furthermore, four wire grooves are formed in the first middle wheel, and the first pull wire and the second pull wire are wound on the first middle wheel in a manner of winding for two circles; four wire grooves are formed in the second middle wheel, and the third pull wire and the fourth pull wire are wound on the second middle wheel in a mode of winding two circles. The utilization rate of the stay wire is increased, the motion angle of the mechanical arm is maximized, and the problem that the motion range of the mechanical arm is too small due to single-circle winding is solved.
Further, the wire drawing device comprises a first wire drawing device, the first wire drawing device is installed on one side of the large arm, the first wire drawing device comprises a third motor, a third motor synchronous driving wheel and a first wire drawing tightening wheel, the third motor synchronous driving wheel is installed on an output shaft of the third motor, a first wire is wound on the third motor synchronous driving wheel at first and then wound on the first wire drawing tightening wheel, and finally wound on the first motor synchronous driving wheel through the first wire drawing tightening wheel, a tensioning screw is arranged on the first wire drawing tightening wheel, and the tightening and loosening of the first wire are controlled through adjusting the tensioning screw. Through adjusting the tightening degree of acting as go-between, the stability and the accuracy of arm control have been increased.
Furthermore, the wire drawing device comprises a second wire drawing device, the second wire drawing device is installed on the other side of the large arm, the second wire drawing device comprises a fourth motor, a fourth motor synchronous driving wheel and a second wire drawing tightening wheel, the fourth motor synchronous driving wheel is installed on an output shaft of the fourth motor, a third wire is wound on the fourth motor synchronous driving wheel at first and then on the second wire drawing tightening wheel before being wound on the second motor synchronous driving wheel, and finally the third wire is wound on the second motor synchronous driving wheel through the second wire drawing tightening wheel, a tensioning screw is arranged on the second wire drawing tightening wheel, and the tightening and loosening of the third wire are controlled by adjusting the tensioning screw. Through adjusting the tightening degree of acting as go-between, the stability and the accuracy of arm control have been increased.
Further, the end effector is a gripper and/or a suction device.
Drawings
Figure 1 is a schematic view of a robotic arm according to an embodiment of the present invention;
fig. 2 is a bottom view of a robotic arm according to an embodiment of the present invention;
figure 3 is a front view of a robotic arm according to an embodiment of the present invention.
Detailed Description
The utility model provides a mechanical arm's drive mechanism and a mechanical arm of acting as go-between. The stay wire transmission mechanism of the mechanical arm comprises a motor, a motor synchronous driving wheel, a middle wheel, an output wheel and two stay wires, wherein the first stay wire is wound on the motor synchronous driving wheel and the middle wheel, the second stay wire is wound on the middle wheel and the output wheel, the motor synchronous driving wheel is installed on an output shaft of the motor, the motor drives the motor synchronous driving wheel, the motor synchronous driving wheel drives the middle wheel through the first stay wire, and the middle wheel drives the output wheel through the second stay wire.
The mechanical arm comprises a base motor, a base motor output flange, a large arm driving motor, a large arm, a small arm, a tail end executing mechanism, a first pull wire transmission mechanism, a second pull wire transmission mechanism, a first bevel gear and a second bevel gear; the base motor output flange is arranged on an output shaft of the base motor, and the base motor output flange is connected with the bottom end of the large arm and used for controlling the large arm to rotate on the horizontal plane; the large arm driving motor is arranged on the output flange of the base motor and used for controlling the large arm to rotate on a vertical surface; the first wire pulling transmission mechanism comprises a first motor, a first motor synchronous driving wheel, a first intermediate wheel, a first output wheel, a first pulling wire and a second pulling wire, the first pulling wire is wound on the first motor synchronous driving wheel and the first intermediate wheel, the second pulling wire is wound on the first intermediate wheel and the first output wheel, the first motor synchronous driving wheel is installed on an output shaft of the first motor, the first motor drives the first motor synchronous driving wheel, the first motor synchronous driving wheel drives the first intermediate wheel through the first pulling wire, and the first intermediate wheel drives the first output wheel through the second pulling wire; the second wire pulling transmission mechanism comprises a second motor, a second motor synchronous driving wheel, a second intermediate wheel, a second output wheel, a third wire and a fourth wire, the third wire is wound on the second motor synchronous driving wheel and the second intermediate wheel, the fourth wire is wound on the second intermediate wheel and the second output wheel, the second motor synchronous driving wheel is mounted on an output shaft of the second motor, the second motor drives the second motor synchronous driving wheel, the second motor synchronous driving wheel drives the second intermediate wheel through the third wire, and the second intermediate wheel drives the second output wheel through the fourth wire; the top end of the large arm is connected with the bottom end of the small arm through a first middle wheel of a first stay wire transmission mechanism and a second middle wheel of a second stay wire transmission mechanism, a first motor of the first stay wire transmission mechanism and a second motor of the second stay wire transmission mechanism are arranged at the bottom end of the large arm above an output flange of the base motor, a first output wheel of the first stay wire transmission mechanism and a second output wheel of the second stay wire transmission mechanism are arranged at the top end of the small arm, the first output wheel of the first stay wire transmission mechanism is connected with the first bevel gear for driving the first bevel gear, and the second output wheel of the second stay wire transmission mechanism is connected with the second bevel gear for driving the second bevel gear; the bottom end of the end actuator is provided with a bottom bevel gear, and the first bevel gear and the second bevel gear drive the bottom bevel gear to control the rotation of the end actuator.
A specific embodiment of the robot arm is shown in fig. 1-3, wherein the first wire drive mechanism comprises a first motor 1, a first motor synchronous driving pulley 2, a first intermediate pulley 3, a first output pulley 4, and a first wire and a second wire. The second wire drawing transmission mechanism comprises a second motor 5, a second motor synchronous driving wheel 6, a second middle wheel 7, a second output wheel 8, a third wire drawing and a fourth wire drawing. The base motor 13 is arranged on the base 12, the base motor output flange 14 is arranged on an output shaft of the base motor 13, and the base motor output flange 14 is connected with the bottom end of the large arm 15 and used for controlling the large arm 15 to rotate on the horizontal plane; the large arm driving motor 16 is arranged on the output flange 14 of the base motor and is used for controlling the large arm 15 to rotate on a vertical surface; the top end of the large arm 15 is connected with the bottom end of the small arm 17 through a first middle wheel 3 of a first wire transmission mechanism and a second middle wheel 7 of a second wire transmission mechanism, a first motor 1 of the first wire transmission mechanism and a second motor 5 of the second wire transmission mechanism are arranged at the bottom end position of the large arm 15 above a base motor output flange 14, a first output wheel 4 of the first wire transmission mechanism and a second output wheel 8 of the second wire transmission mechanism are arranged at the top end of the small arm 17, the first output wheel 4 of the first wire transmission mechanism is connected with a first bevel gear 18 and used for driving the first bevel gear 18, and the second output wheel 8 of the second wire transmission mechanism is connected with a second bevel gear 19 and used for driving the second bevel gear 19; the bottom end of the end effector 20 is mounted on the top end of the arm 17 by a mounting plate 22, the bottom end of the end effector 20 is provided with a bottom bevel gear 21, and the first bevel gear 18 and the second bevel gear 19 drive the bottom bevel gear 21 for controlling the rotation of the end effector 20.
The mechanical arm further comprises a first stay wire tightening device, the first stay wire tightening device is installed on one side of the large arm 15, the first stay wire tightening device comprises a third motor 9, a third motor synchronous driving wheel 10 and a first stay wire tightening wheel 11, the third motor synchronous driving wheel 10 is installed on an output shaft of the third motor 9, a first stay wire is wound on the first motor synchronous driving wheel 2 in front of the first motor synchronous driving wheel, firstly wound on the third motor synchronous driving wheel 10, then wound on the first stay wire tightening wheel 11, and finally wound on the first motor synchronous driving wheel 2 through the first stay wire tightening wheel 11, a tightening screw is arranged on the first stay wire tightening wheel 11, and tightening and loosening of the first stay wire are controlled by adjusting the tightening screw.
When the mechanical arm works, the base motor 13 controls the rotation of the whole mechanical arm on the horizontal plane, and the rotatable angle is +/-360 degrees. The large arm driving motor 16 drives the large arm 15 to move on the vertical plane, so that the angle of the large arm capable of moving on the vertical plane is close to 180 degrees. The first pull wire transmission mechanism and the second pull wire transmission mechanism work cooperatively, the first middle wheel 3 and the second middle wheel 7 are respectively driven to rotate through the first pull wire and the third pull wire, so that the movement of the small arm 17 is controlled, and the movement angle of the small arm 17 on the vertical plane is +/-75 degrees; the mechanical arm respectively controls the rotation of the first output wheel 4 and the second output wheel 8 through a second pull wire wound on the first intermediate wheel 3 and a fourth pull wire wound on the second intermediate wheel 7, the first output wheel 4 and the second output wheel 8 are respectively connected with a first bevel gear 18 and a second bevel gear 19, the rotation of the first output wheel 4 and the second output wheel 8 further drives the first bevel gear 18 and the second bevel gear 19, and further controls the movement of the end actuating mechanism 20 through a bottom bevel gear 21 arranged at the bottom end of the end actuating mechanism 20 connected with the first bevel gear 18 and the second bevel gear 19.
A specific implementation of the wire drive mechanism of the mechanical arm is included in the above embodiments, and is not described herein again.
In the above embodiment, the first intermediate wheel 4 is provided with four wire slots, and the first pull wire and the second pull wire are wound on the first intermediate wheel 4 in a manner of winding two turns; four wire grooves are formed in the second middle wheel 8, and the third pull wire and the fourth pull wire are wound on the second middle wheel 8 in a mode of winding two circles. The purpose of doing so is to increase the rate of utilization of acting as go-between, makes the arm motion angle maximize, overcomes the single coil of wire winding and makes the arm motion range too little problem. As other embodiments, other conventional winding methods may be used to wind the wires.
In the above embodiments, the mechanical arm is provided with the first wire takeup device, and as another embodiment, the first wire takeup device may not be provided or a second wire takeup device may be provided at a corresponding position.
In the above embodiment, the end effector 20 is a gripper and/or a suction device, and may be replaced by other accessories having a function of grasping, sucking, sticking, or extracting as other embodiments.
In the above embodiments, the material of the stay is a metal material, and as another embodiment, a stay made of another material having high toughness may be used.
The horizontal plane and the vertical plane in the above embodiments are both defined by the installation state of the robot arm in use, and change accordingly as the installation state of the robot arm in use changes.
In the above embodiments, the robotic arm is mounted on the base 12, but as other embodiments, it may be mounted on a mobile chassis or other application platform.
The above embodiments are only for describing the technical solution of the present invention in a specific embodiment, and any equivalent replacement and modification or partial replacement of the present invention without departing from the spirit and scope of the present invention should be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a stay wire drive mechanism of arm which characterized in that: including first motor, first motor synchronous driving wheel, intermediate wheel, output wheel and first acting as go-between and second acting as go-between, first acting as go-between winding is in first motor synchronous driving wheel with on the intermediate wheel, the second is acted as go-between and is twined the intermediate wheel with on the output wheel, first motor synchronous driving wheel is installed on the output shaft of first motor, first motor drive first motor synchronous driving wheel, first motor synchronous driving wheel passes through first drive of acting as go-between the intermediate wheel, the intermediate wheel passes through the second drive of acting as go-between the output wheel.
2. The wire pulling transmission mechanism of a mechanical arm according to claim 1, wherein: four wire grooves are formed in the middle wheel, and the first pull wire and the second pull wire are wound on the middle wheel in a two-circle winding mode.
3. The wire pulling transmission mechanism of a robot arm according to claim 1 or 2, wherein: the wire drawing and tightening device comprises a second motor, a second motor synchronous driving wheel and a wire drawing and tightening wheel, the second motor synchronous driving wheel is installed on an output shaft of the second motor, a first wire is wound in front of the first motor synchronous driving wheel and is firstly wound on the second motor synchronous driving wheel and then wound on the wire drawing and tightening wheel, and finally the wire drawing and tightening wheel is wound on the first motor synchronous driving wheel, a tightening screw is arranged on the wire drawing and tightening wheel, and the tightening and loosening of the first wire are controlled by adjusting the tightening screw.
4. A mechanical arm is characterized by comprising a base motor, a base motor output flange, a large arm driving motor, a large arm, a small arm, a tail end executing mechanism, a first pull wire transmission mechanism, a second pull wire transmission mechanism, a first bevel gear and a second bevel gear; the base motor output flange is arranged on an output shaft of the base motor and connected with the bottom end of the large arm to control the large arm to rotate on a horizontal plane; the large arm driving motor is arranged on the output flange of the base motor and used for controlling the large arm to rotate on a vertical surface; the first wire pulling transmission mechanism comprises a first motor, a first motor synchronous driving wheel, a first intermediate wheel, a first output wheel, a first wire and a second wire, wherein the first wire is wound on the first motor synchronous driving wheel and the first intermediate wheel, the second wire is wound on the first intermediate wheel and the first output wheel, the first motor synchronous driving wheel is installed on an output shaft of the first motor, the first motor drives the first motor synchronous driving wheel, the first motor synchronous driving wheel drives the first intermediate wheel through the first wire, and the first intermediate wheel drives the first output wheel through the second wire; the second wire pulling transmission mechanism comprises a second motor, a second motor synchronous driving wheel, a second intermediate wheel, a second output wheel, a third wire and a fourth wire, the third wire is wound on the second motor synchronous driving wheel and the second intermediate wheel, the fourth wire is wound on the second intermediate wheel and the second output wheel, the second motor synchronous driving wheel is installed on an output shaft of the second motor, the second motor drives the second motor synchronous driving wheel, the second motor synchronous driving wheel drives the second intermediate wheel through the third wire, and the second intermediate wheel drives the second output wheel through the fourth wire; the top end of the large arm is connected with the bottom end of the small arm through the first intermediate wheel of the first wire transmission mechanism and the second intermediate wheel of the second wire transmission mechanism, the first motor of the first wire transmission mechanism and the second motor of the second wire transmission mechanism are arranged at the bottom end position of the large arm above the output flange of the base motor, the first output wheel of the first wire transmission mechanism and the second output wheel of the second wire transmission mechanism are arranged at the top end of the small arm, the first output wheel of the first wire transmission mechanism is connected with the first bevel gear for driving the first bevel gear, and the second output wheel of the second wire transmission mechanism is connected with the second bevel gear for driving the second bevel gear; the bottom end of the end actuator is provided with a bottom bevel gear, and the first bevel gear and the second bevel gear drive the bottom bevel gear to control the movement of the end actuator.
5. The mechanical arm according to claim 4, wherein four wire slots are provided on the first intermediate wheel, and the first pull wire and the second pull wire are wound on the first intermediate wheel by two turns; four wire grooves are formed in the second middle wheel, and the third pull wire and the fourth pull wire are wound on the second middle wheel in a two-circle winding mode.
6. A robot arm according to claim 4 or 5, wherein: the first stay wire tightening device is installed on one side of the large arm and comprises a third motor, a third motor synchronous driving wheel and a first stay wire tightening wheel, the third motor synchronous driving wheel is installed on an output shaft of the third motor, the first stay wire is wound in front of the first motor synchronous driving wheel and is firstly wound on the third motor synchronous driving wheel and then wound on the first stay wire tightening wheel, and finally the first stay wire tightening wheel is wound on the first motor synchronous driving wheel and is provided with a tensioning screw, and the tensioning screw is used for controlling the tightening and loosening of the first stay wire.
7. A robot arm according to claim 6, wherein: the wire drawing device comprises a fourth motor, a fourth motor synchronous driving wheel and a second wire drawing tightening wheel, the fourth motor synchronous driving wheel is installed on an output shaft of the fourth motor, a third wire is wound in front of the second motor synchronous driving wheel and is firstly wound on the fourth motor synchronous driving wheel, then wound on the second wire drawing wheel, and finally wound on the second motor synchronous driving wheel through the second wire drawing wheel, a tensioning screw is arranged on the second wire drawing wheel, and the tensioning screw is adjusted to control the tightening and loosening of the third wire.
8. A robot arm according to claim 6, wherein the end effector is a gripper and/or suction device.
9. A robot arm according to claim 7, wherein the end effector is a gripper and/or suction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023137963.6U CN213999488U (en) | 2020-12-24 | 2020-12-24 | Stay wire transmission mechanism of mechanical arm and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023137963.6U CN213999488U (en) | 2020-12-24 | 2020-12-24 | Stay wire transmission mechanism of mechanical arm and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213999488U true CN213999488U (en) | 2021-08-20 |
Family
ID=77289987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023137963.6U Active CN213999488U (en) | 2020-12-24 | 2020-12-24 | Stay wire transmission mechanism of mechanical arm and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213999488U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605985A (en) * | 2020-12-23 | 2021-04-06 | 中原动力智能机器人有限公司 | Stay wire transmission mechanism of mechanical arm and mechanical arm |
-
2020
- 2020-12-24 CN CN202023137963.6U patent/CN213999488U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605985A (en) * | 2020-12-23 | 2021-04-06 | 中原动力智能机器人有限公司 | Stay wire transmission mechanism of mechanical arm and mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2917979Y (en) | Industrial mechanical arm | |
| CN201198136Y (en) | Joint type convey robot | |
| CN103029126B (en) | Flexibly controllable joint driver | |
| CN105619395A (en) | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) | |
| CN112172953B (en) | Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method | |
| CN213999488U (en) | Stay wire transmission mechanism of mechanical arm and mechanical arm | |
| CN102090210A (en) | Multi-fruit-type fruit and vegetable picking robot and end effector thereof | |
| CN112605985A (en) | Stay wire transmission mechanism of mechanical arm and mechanical arm | |
| CN211333229U (en) | Industrial robot flexible to use | |
| CN108582143A (en) | A kind of adaptive portable sorting mechanical arm | |
| CN215471141U (en) | Multi-joint stacking robot | |
| CN110291880A (en) | More arm apple picking robots | |
| CN213452675U (en) | Improved generation industrial robot is with installation base convenient to adjust | |
| CN109877816A (en) | A kind of single-degree-of-freedom multi-joint mast system and lifting method | |
| CN210476948U (en) | Multi-arm manipulator | |
| CN214350456U (en) | Automatic welding arm | |
| CN112757271A (en) | Plane joint four-axis arm | |
| CN108274457B (en) | Four-degree-of-freedom robot operating arm | |
| CN220408731U (en) | Triaxial robot | |
| CN220113313U (en) | Six-axis mechanical arm convenient to maintain | |
| CN210910019U (en) | Plane joint four-axis arm | |
| CN212352019U (en) | Double-arm cooperative robot | |
| CN215515825U (en) | A overcome inertia device for pile up neatly machine people | |
| CN215920522U (en) | Two-degree-of-freedom plane joint mechanical arm | |
| CN117894727B (en) | Wafer transmission manipulator and wafer transmission method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |