CN111998214A - Robot holder lifting device - Google Patents
Robot holder lifting device Download PDFInfo
- Publication number
- CN111998214A CN111998214A CN202010917607.1A CN202010917607A CN111998214A CN 111998214 A CN111998214 A CN 111998214A CN 202010917607 A CN202010917607 A CN 202010917607A CN 111998214 A CN111998214 A CN 111998214A
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- arm
- driving
- wheel
- lifting
- robot
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- 230000001360 synchronised effect Effects 0.000 claims description 76
- 230000005540 biological transmission Effects 0.000 claims description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000006835 compression Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 210000004907 gland Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot holder lifting device, which comprises a fixed frame fixedly arranged on a robot, a motor fixedly arranged on the fixed frame, a driving arm, a plurality of lifting arms and a holder horizontally arranged at the upper end of the last lifting arm, wherein the motor is connected with the driving arm; the driving arm is fixedly connected with an output shaft of the motor and is driven to rotate by the motor. The invention realizes the light weight of the whole lifting under the condition of the same lifting stroke, enlarges the compression ratio, saves the folding space, can realize stable linear lifting motion, and keeps the tail end posture unchanged all the time in the motion process.
Description
Technical Field
The invention relates to the field of robot equipment, in particular to a robot holder lifting device.
Background
When the robot patrols and examines equipment, need detect the detection object at the different visual angles of co-altitude, have wider detection range in order to guarantee the robot, all can increase the equipment of a liftable on the cloud platform usually. The lifting device can be lifted and compressed and folded, and the holder can be always kept horizontal with the ground in the lifting process.
The lifting device commonly used in the market at present has the lead screw lift, and the advantage of this kind of structure is that the lift is reliable and stable, and the lift precision is high, and the shortcoming is that compressible space is little, because the collocation has the lead screw and leads the slide rail of bearing, so the quality is heavy.
Or the connecting rod type double-parallelogram lifting is adopted, the structure is simple, the cost is low, the transmission efficiency is low due to the structure of two four-connecting-rod structures, the structure quality is heavier, and the height compression ratio is low.
Or the lifting is carried out by adopting a joint robot structure, but three joints are required for driving to complete lifting and folding and keep the tail end horizontal with the ground, so that the running cost is overhigh, the weight is heavy, and the advantages of high transmission precision and high height compression ratio are achieved.
Or a scissor type lifting structure is adopted, and the lifting of the scissor type lifting structure is relatively large in compression space, so that the defects of poor structural rigidity and relatively large mass are overcome.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides a lifting device of a robot holder.
The technical scheme is as follows:
a robot holder lifting device comprises a fixed frame fixedly arranged on a robot, a motor fixedly arranged on the fixed frame, a driving arm, a plurality of lifting arms and a holder horizontally arranged at the upper end of the last lifting arm; the driving arm is fixedly connected with an output shaft of the motor and is driven to rotate by the motor;
a driven wheel is fixedly arranged at the lower end of each lifting arm, a driving wheel is rotatably arranged at the upper end of each lifting arm, and the driving wheel is in transmission connection with the driven wheel; between adjacent lifting arms, a driving wheel at the upper end of the previous lifting arm is fixedly connected with a driven wheel at the lower end of the next lifting arm;
the lower end of the driving arm is provided with a driving wheel which rotates relative to the driving arm, and the driving wheel is fixedly arranged on the fixed frame; a driving transmission wheel fixedly connected with a driven wheel at the lower end of the lifting arm is rotatably arranged at the upper end of the driving arm, and the driving wheel is in transmission connection with the driving transmission wheel; the cradle head (13) is horizontally arranged on the driving wheel at the upper end of the last lifting arm; and the rotating speed ratio of the driving wheel at the lower end of the driving arm and the rotating speed of the driving wheel at the upper end of the last lifting arm to the other driving wheels or driven wheels is 1: 2.
The number of the lifting arms is determined according to specific lifting requirements.
The lifting arm is 1.
The transmission connection between the transmission wheel and the driven wheel and between the driving wheel and the driving transmission wheel adopts a chain wheel, rigid belt wheel or synchronous belt wheel mode.
The transmission connection between the transmission wheel and the driven wheel and between the driving wheel and the driving transmission wheel adopts a synchronous belt wheel mode; the number of teeth of the driving wheel at the lower end of the driving arm and the number of teeth of the driving wheel at the upper end of the last lifting arm are twice that of the other driving wheels or the driven wheels.
Two tensioning wheels which are correspondingly arranged are arranged in the driving arm and the lifting arm, and the tensioning wheels are propped against the outer side of the synchronous belt, so that the synchronous belt is tensioned, and the transmission efficiency and the transmission precision of the synchronous belt are ensured.
A hollow speed reducer is also fixed on the fixed frame and is fixedly and rigidly connected with the lower end of the driving arm; the hollow speed reducer is communicated with a motor shaft of the motor.
Between adjacent lifting arms, a driving wheel at the upper end of the previous lifting arm is fixedly connected with a driven wheel at the lower end of the next lifting arm through a transmission shaft; one end of the transmission shaft is rotatably installed at the upper end of the driving arm through a crossed roller bearing, and the other end of the transmission shaft is fixedly connected with a driven wheel at the lower end of the rear lifting arm.
And an arm cover for protecting the joint of the adjacent lifting arms is arranged between the adjacent lifting arms.
The driving wheel and the driven wheel of the driving arm, and the driven wheel and the driving wheel of each lifting arm are both of hollow structures, and control circuits for controlling the holder penetrate through the hollow structures.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the light weight of the whole lifting under the condition of the same lifting stroke, enlarges the compression ratio, saves the folding space, can realize stable linear lifting motion, and keeps the tail end posture unchanged all the time in the motion process.
2. The invention adopts single shaft drive, realizes remote transmission by a high-torque synchronous belt pulley synchronous belt, has simple structure and is convenient for motion control.
3. Each joint of the invention is designed by hollow wiring, thereby facilitating internal wiring.
Drawings
Fig. 1 is a schematic perspective view of a robot pan-tilt lifting device according to the present invention.
Fig. 2 is a schematic diagram of the internal structure of the robot pan-tilt lifting device of the present invention.
Fig. 3 is a schematic structural view of a first joint of the present invention.
Fig. 4 is a structural diagram of a second joint according to the present invention.
Fig. 5 is a schematic diagram of a third joint structure according to the present invention.
The device comprises a base 1, a base 2, a first synchronous belt pulley 3, a first tensioning wheel 4, a first arm 5, a first synchronous belt 6, a second synchronous belt pulley 7, a third synchronous belt pulley 8, a second arm 9, a second tensioning wheel 10, a fourth synchronous belt pulley 11, a cradle head mounting flange 12, a cradle head 13, a motor 14, a hollow speed reducer 15, a fixing frame 16, a flange mounting seat 17, a belt mounting flange 18, a first arm cover 19, a fixing end 20, a tensioning sleeve 21, a deep groove ball bearing 22, a second synchronous belt 23, a second lower arm cover 24, a cross roller bearing 25, a second synchronous belt 26, a control circuit 27, a second deep groove ball bearing 28, a bearing inner ring gland 29, a second upper arm cover 30, a transmission shaft 31 and a second cross roller bearing 32.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1 is a schematic perspective view of a robot pan-tilt lifting device according to the present invention. As shown in fig. 1, the lifting device of the robot holder comprises a chassis 1, a first joint, a first arm 5, a second joint, a second arm 9, a third joint and a holder 13, wherein the chassis 1 is fixedly installed on the intelligent inspection robot, the first arm 5 is installed on the chassis 1 through the first joint, the second arm 9 is connected with the first arm 5 through the second joint, the third joint is arranged at the tail end of the second arm 9, and the holder 13 is horizontally and fixedly installed on the third joint through a holder installation flange 12.
As shown in fig. 1, 2 and 3, a base 2 is fixedly mounted on a chassis 1, a fixed frame 16 is fixedly mounted on the base 2, a flange mounting seat 17 is mounted on one side of the fixed frame 16, and a belt wheel mounting flange 18 is fixedly mounted on the flange mounting seat 17; the fixing frame 16 is provided with a through hole, and the belt wheel mounting flange 18 passes through the through hole of the fixing frame 16; a first arm 5 is arranged on the other side of the fixed frame 16, a first joint is arranged at the lower end of the first arm 5, the first joint comprises a first synchronous pulley 3, and the first synchronous pulley 3 is fixedly arranged on a pulley mounting flange 18 and is further fixed through an expansion sleeve 21. A hollow speed reducer 15 is also fixed on the fixed frame 16, and the hollow speed reducer 15 is fixedly and rigidly connected with the lower end of the first arm 5; a motor is also arranged outside the hollow speed reducer 15, and a motor shaft of the motor 14 is communicated with the hollow speed reducer 15 and drives the first arm 5 to rotate through the hollow speed reducer 15; i.e. the first arm 5 and the first timing pulley 3 are relatively movable.
Fig. 4 is a structural diagram of a second joint according to the present invention. As shown in fig. 4, a second joint is arranged at the upper end of the first arm 5, the second joint comprises a second synchronous pulley 7 and a third synchronous pulley 8 which are connected with each other, and the number of teeth of the second synchronous pulley 7 and the number of teeth of the third synchronous pulley 8 are half of the number of teeth of the first synchronous pulley 3; the second synchronous pulley 7 and the third synchronous pulley 8 are connected through a transmission shaft 31, a crossed roller bearing 25 is arranged at the upper end of the first arm 5, one end of the transmission shaft 31 is rotatably arranged at the upper end of the first arm 5 through the crossed roller bearing 25, the third synchronous pulley 8 is fixedly connected with the transmission shaft 31 end penetrating through the crossed roller bearing 25, and the first synchronous pulley 3 and the third synchronous pulley 8 are connected through a first synchronous belt 6; the second synchronous pulley 7 is fixedly arranged on the transmission shaft 31, and the second synchronous pulley 7 is rigidly connected with the lower end of the second arm 9. In the present invention, a deep groove ball bearing 22 for supporting rotation is provided between the transmission shaft 31 to bear the rotational radial load.
Fig. 5 is a schematic diagram of a third joint structure according to the present invention. As shown in fig. 5, a fourth synchronous pulley 11 (the number of teeth is twice that of the second synchronous pulley 7) is mounted at the upper end of the second arm 9, and the second synchronous pulley 7 and the fourth synchronous pulley 11 are connected by a second synchronous belt 26; the second synchronous pulley 7 is driven by the third synchronous pulley 8 to rotate, and after the second synchronous pulley 7 rotates, the fourth synchronous pulley 11 is driven to rotate through the second synchronous belt 26. The fourth synchronous pulley 11 is rotatably mounted at the upper end of the second arm 9 through a second crossed roller bearing 32 and is pressed through a bearing inner ring gland 29 so as to play a role in transmitting torque and pressing crossed roller inner rings; a fixed end mounting flange 20 is also fixedly arranged on the bearing inner ring gland 29; a second deep groove ball bearing 28 is mounted on the outer side of the upper end of the second arm 9, a pan-tilt mounting flange 12 is rotatably mounted on the second deep groove ball bearing 28, and the pan-tilt mounting flange 12 is fixedly connected with a fourth synchronous pulley 11 and is driven to rotate by the fourth synchronous pulley 11. The pan-tilt is horizontally and fixedly arranged on the pan-tilt mounting flange 12. In the invention, a first arm cover 19 for protecting the second joint is arranged at the second joint at the upper end of the first arm 5, a second lower arm cover 24 for protecting the second joint is arranged at the second joint at the lower end of the second arm 9, and a second upper arm cover 30 for protecting the third joint is arranged at the third joint at the upper end of the second arm 9; the first arm cover 19 may also increase the strength of the upper end of the first arm 5, and the second lower arm cover 24 and the second upper arm cover 30 may increase the strength of the upper and lower ends of the second arm 9, respectively. In the invention, the first synchronous pulley 3 in the first joint, the third synchronous pulley 8 in the second joint, the second synchronous pulley 7 and the fourth synchronous pulley 11 in the third joint are all hollow structures, and a control circuit 27 for controlling the pan-tilt head respectively passes through the hollow structures of the joints and is fixed on the inner side of the first arm 5 or the second arm 9. The conductor 27 controlling the head comprises a signal line and a power line.
In the invention, two tension pulleys which are correspondingly arranged are arranged in the first arm 5 and the second arm 9 respectively, and the tension pulleys are propped against the outer side of the synchronous belt, so that the synchronous belt is tensioned, and the transmission efficiency and the transmission precision of the synchronous belt are ensured.
The working principle of the invention is as follows:
the motor 14 drives the first arm 5 to rotate through the hollow speed reducer 15, the third synchronous belt pulley 8 at the upper end of the first arm 5 follows the movement of the first arm 5, meanwhile, the first synchronous belt pulley 3 is fixedly installed, so that the first synchronous belt pulley 3 and the first arm 5 rotate relatively, and the third synchronous belt pulley 8 is driven by the first synchronous belt 6 to rotate, so that the second synchronous belt pulley 7 fixedly connected with the third synchronous belt pulley 8 through the transmission shaft 31 is driven to rotate. Because the number of teeth of the third synchronous belt wheel 8 is half of that of the first synchronous belt wheel 3, the rotating speed ratio of the first synchronous belt wheel 3 to the third synchronous belt wheel 8 is 1 to 2, the rotating speed of the first arm 5 and the rotating speed of the third synchronous belt wheel 8 are equal in size and opposite in direction, so that the rotating speed of the second synchronous belt wheel 7 is equal in size and opposite in direction, and the second arm 9 is driven to rotate correspondingly; therefore, the second arm 9 and the first arm 5 simultaneously make motions with the same rotating speed and the opposite rotating directions, thereby achieving a lifting motion; similarly, the second synchronous pulley 7 drives the fourth synchronous pulley 11 to rotate through the second synchronous belt 26, because the number of teeth of the fourth synchronous pulley 11 is twice that of the second synchronous pulley 7, the rotation speed ratio between the fourth synchronous pulley 11 and the second synchronous pulley 7 is also 2 to 1, so that the rotation speeds of the fourth synchronous pulley 11 and the second arm 9 are equal, and the directions are opposite, so that the pan-tilt mounting flange 12 mounted on the fourth synchronous pulley 11 is also equal to the rotation speed of the second arm 9, and the directions are opposite, and further, the pan-tilt horizontally mounted on the pan-tilt mounting flange 12 is always kept in a horizontal state.
The invention solves the problems that the lifting and the folding of the cloud deck are realized in the inspection process of the robot, and the compressed states of the two arms can be mutually horizontal by adopting an articulated structure; the two arms move in opposite directions relative to the ground, and the movement angular velocities are the same, so that the holder is always kept horizontal with the ground, and a power input is adopted for facilitating movement control and having a simple structure. In addition, in order to facilitate hollow wiring and high transmission efficiency, the synchronous belt wheel is used for long-distance transmission, and each joint is designed to be hollow, so that wiring is facilitated; in order to increase the rigidity of each joint and eliminate gaps, a crossed roller bearing is used as a main bearing.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (10)
1. The utility model provides a cloud platform jacking equipment of robot which characterized in that: comprises a fixed frame (16) fixedly arranged on a robot, a motor (14) fixedly arranged on the fixed frame (16), a driving arm, a plurality of lifting arms and a pan-tilt (13) horizontally arranged at the upper end of the last lifting arm; the driving arm is fixedly connected with an output shaft of the motor (14) and is driven to rotate by the motor (14);
a driven wheel is fixedly arranged at the lower end of each lifting arm, a driving wheel is rotatably arranged at the upper end of each lifting arm, and the driving wheel is in transmission connection with the driven wheel; between adjacent lifting arms, a driving wheel at the upper end of the previous lifting arm is fixedly connected with a driven wheel at the lower end of the next lifting arm;
the lower end of the driving arm is provided with a driving wheel which rotates relative to the driving arm, and the driving wheel is fixedly arranged on the fixed frame (16); a driving transmission wheel fixedly connected with a driven wheel at the lower end of the lifting arm is rotatably arranged at the upper end of the driving arm, and the driving wheel is in transmission connection with the driving transmission wheel; the cradle head (13) is horizontally arranged on the driving wheel at the upper end of the last lifting arm; and the rotating speed ratio of the driving wheel at the lower end of the driving arm and the rotating speed of the driving wheel at the upper end of the last lifting arm to the other driving wheels or driven wheels is 1: 2.
2. The robot pan-tilt lifting device of claim 1, wherein: the number of the lifting arms is determined according to specific lifting requirements.
3. The robot pan-tilt lifting device of claim 1, wherein: the lifting arm is 1.
4. The robot pan-tilt lifting device of claim 1, wherein: the transmission connection between the transmission wheel and the driven wheel and between the driving wheel and the driving transmission wheel adopts a chain wheel, rigid belt wheel or synchronous belt wheel mode.
5. The robot pan-tilt lifting device of claim 1, wherein: the transmission connection between the transmission wheel and the driven wheel and between the driving wheel and the driving transmission wheel adopts a synchronous belt wheel mode; the number of teeth of the driving wheel at the lower end of the driving arm and the number of teeth of the driving wheel at the upper end of the last lifting arm are twice that of the other driving wheels or the driven wheels.
6. The robot pan-tilt lifting device of claim 5, wherein: two tension pulleys which are correspondingly arranged are arranged in the driving arm and the lifting arm, and the tension pulleys are propped against the outer side of the synchronous belt, so that the synchronous belt is tensioned.
7. The robot pan-tilt lifting device of claim 1, wherein: a hollow speed reducer (15) is further fixed on the fixed frame (16), and the hollow speed reducer (15) is fixedly and rigidly connected with the lower end of the driving arm; the outside of the hollow speed reducer (15) is communicated with a motor shaft of the motor (14).
8. The robot pan-tilt lifting device of claim 1, wherein: between adjacent lifting arms, a driving wheel at the upper end of the previous lifting arm is fixedly connected with a driven wheel at the lower end of the next lifting arm through a transmission shaft (31); one end of the transmission shaft (31) is rotatably arranged at the upper end of the driving arm through a crossed roller bearing (25), and the other end of the transmission shaft is fixedly connected with a driven wheel at the lower end of the rear lifting arm.
9. The robot pan-tilt lifting device of claim 1, wherein: and an arm cover for protecting the joint of the adjacent lifting arms is arranged between the adjacent lifting arms.
10. The robot pan-tilt lifting device of claim 1, wherein: the driving wheel and the driven wheel of the driving arm, and the driven wheel and the driving wheel of each lifting arm are both of hollow structures, and control circuits (27) for controlling the cloud deck (13) penetrate through the hollow structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010917607.1A CN111998214A (en) | 2020-09-03 | 2020-09-03 | Robot holder lifting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010917607.1A CN111998214A (en) | 2020-09-03 | 2020-09-03 | Robot holder lifting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111998214A true CN111998214A (en) | 2020-11-27 |
Family
ID=73468266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010917607.1A Pending CN111998214A (en) | 2020-09-03 | 2020-09-03 | Robot holder lifting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111998214A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113606456A (en) * | 2021-07-02 | 2021-11-05 | 国网江苏省电力有限公司电力科学研究院 | High-precision numerical control holder capable of automatically tracking and aiming |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
| CN118288331A (en) * | 2024-06-06 | 2024-07-05 | 杭州申昊科技股份有限公司 | Folding arm lifting device with stable tail end and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATA119588A (en) * | 1987-05-25 | 1993-11-15 | Wittmann Robot Systeme Gmbh | DEVICE FOR RECEIVING, TRANSPORTING, DEPOSITING AND / OR POSITIONING WORKPIECES |
| CN204935651U (en) * | 2015-09-07 | 2016-01-06 | 深圳市科精诚印刷机械制造有限公司 | Multi-joint manipulator |
| CN108289717A (en) * | 2015-12-11 | 2018-07-17 | 川崎重工业株式会社 | Surgical system |
| CN210210398U (en) * | 2019-06-13 | 2020-03-31 | 西南科技大学 | Swing arm mechanism with tail end kept horizontal passively |
| CN210704904U (en) * | 2019-09-06 | 2020-06-09 | 深圳市施罗德工业集团有限公司 | Telescopic mechanism and mechanical arm |
| CN210771306U (en) * | 2019-07-08 | 2020-06-16 | 成都慧拓自动控制技术有限公司 | Inspection robot |
-
2020
- 2020-09-03 CN CN202010917607.1A patent/CN111998214A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATA119588A (en) * | 1987-05-25 | 1993-11-15 | Wittmann Robot Systeme Gmbh | DEVICE FOR RECEIVING, TRANSPORTING, DEPOSITING AND / OR POSITIONING WORKPIECES |
| CN204935651U (en) * | 2015-09-07 | 2016-01-06 | 深圳市科精诚印刷机械制造有限公司 | Multi-joint manipulator |
| CN108289717A (en) * | 2015-12-11 | 2018-07-17 | 川崎重工业株式会社 | Surgical system |
| CN210210398U (en) * | 2019-06-13 | 2020-03-31 | 西南科技大学 | Swing arm mechanism with tail end kept horizontal passively |
| CN210771306U (en) * | 2019-07-08 | 2020-06-16 | 成都慧拓自动控制技术有限公司 | Inspection robot |
| CN210704904U (en) * | 2019-09-06 | 2020-06-09 | 深圳市施罗德工业集团有限公司 | Telescopic mechanism and mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113606456A (en) * | 2021-07-02 | 2021-11-05 | 国网江苏省电力有限公司电力科学研究院 | High-precision numerical control holder capable of automatically tracking and aiming |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
| CN118288331A (en) * | 2024-06-06 | 2024-07-05 | 杭州申昊科技股份有限公司 | Folding arm lifting device with stable tail end and robot |
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Application publication date: 20201127 |
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